OrbbecSDK_ROS2/docs/en/source/4_application_guide/services.md

All available services for camera control

Note: Services related to a specific stream (e.g., /camera/set_color_*) are only available if that stream is enabled in the launch file (e.g., enable_color:=true).

Stream Control

Color Stream

• /camera/toggle_color

  ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
  

• /camera/get_color_exposure & /camera/get_color_gain

  ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
  ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
  

• /camera/set_color_auto_exposure

  ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
  

• /camera/set_color_exposure & /camera/set_color_gain

  ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
  ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
  

• /camera/set_color_mirror, /camera/set_color_flip, /camera/set_color_rotation

  ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
  

• /camera/set_color_ae_roi

  # data_param: [Left, Right, Top, Bottom]
  ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
  

Depth Stream

• /camera/toggle_depth

  ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
  

• /camera/get_depth_exposure & /camera/get_depth_gain

  ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
  ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
  

• /camera/set_depth_auto_exposure

  ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
  

• /camera/set_depth_exposure & /camera/set_depth_gain

  ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
  ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
  

• /camera/set_depth_mirror, /camera/set_depth_flip, /camera/set_depth_rotation

  ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
  

• /camera/set_depth_ae_roi

  # data_param: [Left, Right, Top, Bottom]
  ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
  

IR Stream

• /camera/toggle_ir

  ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
  

• /camera/get_ir_exposure & /camera/get_ir_gain

  ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
  ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
  

• /camera/set_ir_auto_exposure

  ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
  

• /camera/set_ir_exposure & /camera/set_ir_gain

  ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
  ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
  

• /camera/switch_ir

  ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
  

All Streams

• /camera/get_streams_enable & /camera/set_streams_enable

  ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
  ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
  

Sensor & Emitter Control

• /camera/set_auto_white_balance & /camera/get_auto_white_balance

  ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
  

• /camera/set_white_balance & /camera/get_white_balance

  ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
  ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
  

• /camera/set_laser_enable

  ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
  

  /camera/get_laser_status

  ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
  

• /camera/set_ldp_enable & /camera/get_ldp_status

  ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
  ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
  

• /camera/set_fan_work_mode

  ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
  

• /camera/set_floor_enable

  ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
  

Device Information & Management

• /camera/get_device_info

  ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
  

• /camera/get_sdk_version

  ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
  

• /camera/reboot_device

  ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
  

Synchronization & Triggering

• /camera/send_software_trigger

  ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
  ```*   `/camera/set_reset_timestamp`
  ```bash
  # Only available when time_domain param is set to device
  ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
  

• /camera/set_sync_interleaverlaser

  # Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
  ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
  

Depth Filter Configuration

• /camera/set_filter

  # Set DecimationFilter
  ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
  # Set SpatialAdvancedFilter
  ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
  

Data Capture & Calibration Management

• /camera/save_images

  ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
  

• /camera/save_point_cloud

  ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
  

Note

: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.

• /camera/write_customer_data & /camera/read_customer_data

  ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
  ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
  

• /camera/set_user_calib_params & /camera/get_user_calib_params

  ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
  '{k: [614.9613647460938, 0.0, 634.91552734375,
        0.0, 614.65771484375, 391.407470703125,
        0.0, 0.0, 1.0],
    d: [-0.03131488710641861,
         0.032955970615148544,
         9.096559369936585e-05,
        -0.0003368517500348389,
        -0.01115430984646082,
         0.0, 0.0, 0.0],
    rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
              -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
               0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
    translation: [-0.023897956848144532,
                  -9.439220279455185e-05,
                  -6.804073229432106e-06]}'
  ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'