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<a href="../../../_sources/source/camera_devices/4_application_guide/services.md.txt" rel="nofollow"> 查看页面源码</a>
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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="id1">
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<h1>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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<blockquote>
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<div><p><strong>注意:</strong> 与特定数据流相关的服务(例如 <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>)仅在启动文件中启用该数据流时可用(例如 <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>)。</p>
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</div></blockquote>
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<section id="id2">
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<h2>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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<section id="id3">
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<h3>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
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<ul>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></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/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_color_gain</span></code></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_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_auto_exposure</span></code></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/set_color_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_color_gain</span></code></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/set_color_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 1}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_color_rotation</span></code></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/set_color_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_color_ae_roi</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [左, 右, 上, 下]</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_color_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,1279,0,719]}'</span>
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</pre></div>
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</div>
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</li>
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</ul>
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</section>
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<section id="id4">
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<h3>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
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<ul>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></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/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_depth_gain</span></code></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_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_auto_exposure</span></code></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/set_depth_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_gain</span></code></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/set_depth_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_depth_rotation</span></code></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/set_depth_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_depth_ae_roi</span></code></p>
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<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># data_param: [左, 右, 上, 下]</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_depth_ae_roi<span class="w"> </span>orbbec_camera_msgs/srv/SetArrays<span class="w"> </span><span class="s1">'{data_param: [0,847,0,479]}'</span>
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</pre></div>
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</div>
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</li>
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</ul>
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</section>
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<section id="id5">
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<h3>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
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<ul>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></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/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ir_gain</span></code></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_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_long_exposure</span></code></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/set_ir_long_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_auto_exposure</span></code></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/set_ir_auto_exposure<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_exposure</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_gain</span></code></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/set_ir_exposure<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 3000}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_gain<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 64}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ir_mirror</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_flip</span></code>, <code class="docutils literal notranslate"><span class="pre">/camera/set_ir_rotation</span></code></p>
|
|
<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/set_ir_mirror<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_flip<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ir_rotation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 180}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/switch_ir</span></code></p>
|
|
<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/switch_ir<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: left}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="id6">
|
|
<h3>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
|
|
<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_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_streams_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: false}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
</section>
|
|
<section id="id7">
|
|
<h2>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
|
|
<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/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_auto_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_white_balance</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_white_balance</span></code></p>
|
|
<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/set_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 2800}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_white_balance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_laser_enable</span></code></p>
|
|
<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/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
|
|
<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_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
|
|
<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/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ldp_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ptp_config</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_ptp_config</span></code></p>
|
|
<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/set_ptp_config<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_ptp_config<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_lrm_measure_distance</span></code></p>
|
|
<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_lrm_measure_distance<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_fan_work_mode</span></code></p>
|
|
<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/set_fan_work_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_floor_enable</span></code></p>
|
|
<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/set_floor_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="id8">
|
|
<h2>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
|
|
<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
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_sdk_version</span></code></p>
|
|
<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_sdk_version<span class="w"> </span>orbbec_camera_msgs/srv/GetString
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/reboot_device</span></code></p>
|
|
<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/reboot_device<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="id9">
|
|
<h2>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
|
|
<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/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sync_hosttime</span></code></p>
|
|
<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/set_sync_hosttime<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_reset_timestamp</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 仅在time_domain参数设置为device时可用</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_reset_timestamp<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">'{data: true}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sync_interleaverlaser</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 仅在interleave_ae_mode为'laser'且interleave_frame_enable为true时可用</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sync_interleaverlaser<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 0}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="id10">
|
|
<h2>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
|
|
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 设置DecimationFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'</span>
|
|
|
|
<span class="c1"># 设置SpatialAdvancedFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'</span>
|
|
|
|
<span class="c1"># 设置SequenceIdFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'</span>
|
|
|
|
<span class="c1"># 设置ThresholdFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'</span>
|
|
|
|
<span class="c1"># 设置NoiseRemovalFilter</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'</span>
|
|
|
|
<span class="c1"># 设置HardwareNoiseRemoval</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}'</span>
|
|
|
|
<span class="c1"># 设置SpatialFastFilter</span>
|
|
<span class="c1"># filter_param: [radius]</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'</span>
|
|
|
|
<span class="c1"># 设置SpatialModerateFilter</span>
|
|
<span class="c1"># filter_param: [disp_diff, magnitude, radius]</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_filter<span class="w"> </span>orbbec_camera_msgs/srv/SetFilter<span class="w"> </span><span class="s1">'{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
</section>
|
|
<section id="id11">
|
|
<h2>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
|
|
<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/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_point_cloud</span></code></p>
|
|
<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/save_point_cloud<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
</ul>
|
|
<blockquote>
|
|
<div><p><strong>注意</strong>:以下服务目前仅支持435Le模块。每个服务一次只能存储一组数据或字符串。</p>
|
|
</div></blockquote>
|
|
<ul>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
|
|
<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/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">'{data: "string"}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">'{}'</span>
|
|
</pre></div>
|
|
</div>
|
|
</li>
|
|
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> & <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
|
|
<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/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
|
|
<span class="s1">'{k: [614.9613647460938, 0.0, 634.91552734375,</span>
|
|
<span class="s1"> 0.0, 614.65771484375, 391.407470703125,</span>
|
|
<span class="s1"> 0.0, 0.0, 1.0],</span>
|
|
<span class="s1"> d: [-0.03131488710641861,</span>
|
|
<span class="s1"> 0.032955970615148544,</span>
|
|
<span class="s1"> 9.096559369936585e-05,</span>
|
|
<span class="s1"> -0.0003368517500348389,</span>
|
|
<span class="s1"> -0.01115430984646082,</span>
|
|
<span class="s1"> 0.0, 0.0, 0.0],</span>
|
|
<span class="s1"> rotation: [0.9999880790710449, 0.0003024190664291382, -0.004874417092651129,</span>
|
|
<span class="s1"> -0.0002965621242765337, 0.9999992251396179, 0.001202247804030776,</span>
|
|
<span class="s1"> 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],</span>
|
|
<span class="s1"> translation: [-0.023897956848144532,</span>
|
|
<span class="s1"> -9.439220279455185e-05,</span>
|
|
<span class="s1"> -6.804073229432106e-06]}'</span>
|
|
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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</ul>
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</section>
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<section id="id12">
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<h2>点云下采样<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
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<ul>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></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/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">'{data: 8}'</span>
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</pre></div>
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</div>
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</li>
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<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></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_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">'{}'</span>
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</pre></div>
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</div>
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</li>
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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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