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<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">1.1. Introduction</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<li class="toctree-l3"><a class="reference internal" href="#support-platforms">1.1.2. Support Platforms</a></li>
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<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. QuickStarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_systems.html">4.4. ROS2(Robot) vs Optical(Camera) Coordination Systems</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/camera_sensor_structure.html">4.5. Camera sensor structure</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/tf_transformations.html">4.6. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.7. Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.8. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.8.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.8.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.8.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.8.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.8.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.8.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html">5.1.1. Ob_benchmark tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#tool-configuration-start-benchmark-params-json">5.1.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#camera-configuration-launch-files">5.1.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#running-the-ob-benchmark-tool">5.1.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/benchmark.html#output-data-files">5.1.1.4. Output Data Files</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.2. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.2.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.2.2. Launch Files Used for Testing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.2.3. Test environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.2.4. Test Setup</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.2.5. Test Results</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.2.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.3. Efficient intra-process communication:</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.3.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.3.2. Example</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.4. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.4.1. Adjusting System Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.4.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le">5.3.7.1. Femto Mega &amp; Gemini 435Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#gemini-335le">5.3.7.2. Gemini 335Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#multi-net-camera">5.3.7.3. Multi Net camera</a></li>
</ul>
</li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../6_developer_guide/developer_guide.html">6. Developer Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html">6.1. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#preparing-the-environment">6.1.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">6.1.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_developer_guide/building_a_Debian_Package.html#building-the-package">6.1.3. Building the Package</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../7_FAQ/FAQ.html">7. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#unexpected-crash">7.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">7.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#additional-troubleshooting">7.3. Additional Troubleshooting</a></li>
<li class="toctree-l2"><a class="reference internal" href="../7_FAQ/FAQ.html#why-are-there-so-many-launch-files">7.4. Why Are There So Many Launch Files?</a></li>
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<a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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<li class="breadcrumb-item"><a href="overview.html"><span class="section-number">1. </span>Overview</a></li>
<li class="breadcrumb-item active"><span class="section-number">1.1. </span>Introduction</li>
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<section id="introduction">
<h1><span class="section-number">1.1. </span>Introduction<a class="headerlink" href="#introduction" title="Link to this heading"></a></h1>
<p>OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.</p>
<p>By default, we recommend using the <strong>v2-main</strong> branch. For older OpenNI devices not supported by v2-main, please use the <strong>main</strong> branch. Device models that are only supported by the main branch are listed in the table below.</p>
<p>If you are a user in China, it is recommended to use <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee Repo</a>.</p>
<p>Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):</p>
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
<thead>
<tr style="background-color: #1f4e78; color: white; text-align: center;">
<th>Product Series</th>
<th>Product</th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Branch main</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Branch v2-main</a></th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
<td>Gemini 435Le</td>
<td>Not supported</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
<td>Gemini 335</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 336</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335L</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 336L</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335Lg</td>
<td>Not supported</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335Le</td>
<td>Not supported</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 330</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 330L</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
<td>Gemini 2</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 2 L</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Gemini 2 XL</td>
<td>Recommended for new designs</td>
<td>To be supported</td>
</tr>
<tr>
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
<td>Femto Bolt</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Femto Mega</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Femto Mega I</td>
<td>Full maintenance</td>
<td>To be supported</td>
</tr>
<tr>
<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
<td>Astra 2</td>
<td>Full maintenance</td>
<td>Recommended for new designs</td>
</tr>
<tr>
<td>Astra+</td>
<td>Limited maintenance</td>
<td>Not supported</td>
</tr>
<tr>
<td>Astra Pro Plus</td>
<td>Limited maintenance</td>
<td>Not supported</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini Pro</td>
<td>Full maintenance</td>
<td>Full maintenance</td>
</tr>
</tbody>
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
<p><strong>Definition</strong>:</p>
<ol class="simple">
<li><p>Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;</p></li>
<li><p>Full maintenance: we will provide bug fix support;</p></li>
<li><p>Limited maintenance: we will provide critical bug fix support;</p></li>
<li><p>Not supported: we will not support specific device in this version;</p></li>
<li><p>To be supported: we will add support in the near future.</p></li>
</ol>
<section id="support-hardware-products">
<h2><span class="section-number">1.1.1. </span>Support Hardware Products<a class="headerlink" href="#support-hardware-products" title="Link to this heading"></a></h2>
<p>The following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> branch.</p>
<p>For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.</p>
<table border="1" class="docutils">
<thead>
<tr>
<th style="text-align: left;">Product List</th>
<th style="text-align: left;">Minimal Firmware Version</th>
<th style="text-align: left;"><strong>Launch File</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: left;">Gemini 435Le</td>
<td style="text-align: left;">1.2.04</td>
<td style="text-align: left;">gemini435_le.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 335</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 336</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 335L</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 336L</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 335Lg</td>
<td style="text-align: left;">1.3.46</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 335Le</td>
<td style="text-align: left;">1.5.31</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 330</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 330L</td>
<td style="text-align: left;">1.2.20</td>
<td style="text-align: left;">gemini_330_series.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 2</td>
<td style="text-align: left;">1.4.92</td>
<td style="text-align: left;">gemini2.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Gemini 2 L</td>
<td style="text-align: left;">1.4.53</td>
<td style="text-align: left;">gemini2L.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Femto Bolt</td>
<td style="text-align: left;">1.1.2</td>
<td style="text-align: left;">femto_bolt.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Femto Mega</td>
<td style="text-align: left;">1.3.0</td>
<td style="text-align: left;">femto_mega.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Astra 2</td>
<td style="text-align: left;">2.8.20</td>
<td style="text-align: left;">astra2.launch.py</td>
</tr>
<tr>
<td style="text-align: left;">Astra Mini Pro</td>
<td style="text-align: left;">2.0.01</td>
<td style="text-align: left;">astra.launch.py</td>
</tr>
</tbody>
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
</section>
<section id="support-platforms">
<h2><span class="section-number">1.1.2. </span>Support Platforms<a class="headerlink" href="#support-platforms" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p>Linux x64: tested on Ubuntu 22.04</p></li>
<li><p>Linux ARM64: tested on NVIDIA Jetson AGX Orin , NVIDIA Jetson Orin NX , NVIDIA Jetson Orin Nano , NVIDIA Jetson AGX Xavier , NVIDIA Jetson Xavier NX</p></li>
</ul>
</section>
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