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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros">
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<h1>ROS 包快速入门<a class="headerlink" href="#ros" title="Link to this heading"></a></h1>
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<section id="id1">
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<h2>简介<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
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<p>本节提供 Orbbec ROS 2 包装器的快速入门指南。
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您将学习如何：</p>
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<ul class="simple">
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<li><p>启动相机节点。</p></li>
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<li><p>在 <strong>RViz2</strong> 中可视化深度/彩色流。</p></li>
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<li><p>使用 <strong>ROS 2 CLI 工具</strong>与话题和服务交互。</p></li>
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</ul>
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</section>
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<hr class="docutils" />
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<section id="id2">
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<h2>构建您的第一个相机应用<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<section id="ros-2">
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<h3>步骤 1：配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h3>
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<p>确保已配置 ROS 2 和工作空间环境：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/setup.bash
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</pre></div>
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</div>
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<p>源码构建需要</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/ros2_ws/install/setup.bash
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</pre></div>
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</div>
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</section>
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<section id="id3">
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<h3>步骤 2：启动相机节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
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<ul class="simple">
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<li><p>在终端 1 中</p></li>
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</ul>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
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ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node<span class="w"> </span><span class="c1">#检查相机是否已连接</span>
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ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="c1"># 或其他启动文件，见下表</span>
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</pre></div>
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</div>
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<p>如果您连接了多个相机，可以指定<strong>序列号</strong>：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>serial_number:<span class="o">=</span><您的相机序列号>
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</pre></div>
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</div>
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</section>
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<section id="rviz2">
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<h3>步骤 3：在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
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<p>启动 RViz2 并加载默认配置：</p>
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<ul class="simple">
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<li><p>在终端 2 中</p></li>
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</ul>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
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</pre></div>
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</div>
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<ul class="simple">
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<li><p>添加一个 <strong>Image</strong> 显示，将话题设置为 <code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code>。</p></li>
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<li><p>为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code> 添加另一个 <strong>Image</strong> 显示。</p></li>
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<li><p>可选：为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 添加 <strong>PointCloud2</strong> 显示。</p></li>
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</ul>
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<p>现在您应该能在 RViz2 中看到彩色流、深度流和 3D 点云。</p>
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</section>
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</section>
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<hr class="docutils" />
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<section id="id4">
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<h2>示例功能<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
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<p>节点运行后，尝试一些 ROS 2 CLI 命令：</p>
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<section id="id5">
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<h3>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span>list
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ros2<span class="w"> </span>service<span class="w"> </span>list
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ros2<span class="w"> </span>param<span class="w"> </span>list
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</pre></div>
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</div>
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</section>
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<section id="id6">
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<h3>回显话题<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
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<p>查看深度相机数据：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/depth/camera_info
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</pre></div>
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</div>
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</section>
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<section id="id7">
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<h3>调用服务<a class="headerlink" href="#id7" title="Link to this heading"></a></h3>
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<p>例如，获取设备信息：</p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</section>
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<section id="rosbag2">
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<h3>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="Link to this heading"></a></h3>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/camera/color/image_raw<span class="w"> </span>/camera/depth/image_raw
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</pre></div>
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</div>
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</section>
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<p>© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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<span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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