orbbec_camera

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ORBBEC_SDK ROS2 wrapper for orbbec 3d camera

Installation Instructions

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Install ROS2

• Add ROS2 gpg key

sudo apt install curl gnupg2
sudo curl -sSL https://mirrors.tuna.tsinghua.edu.cn/rosdistro/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

• Add tuna ROS2 mirror

echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] https://mirrors.tuna.tsinghua.edu.cn/ros2/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
 
sudo apt update

• Install ROS2

sudo apt-get  install ros-galactic-desktop
sudo apt-get install python3-colcon-common-extensions

If your ROS2 command does not auto-complete, put the following two lines into your .bashrc or .zshrc

eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"

Create colcon workspace Ubuntu

mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src

Clone source code

git clone gitlab@code.orbbec.com.cn:OrbbecSDK/orbbecros2sdk.git

Install magic_enum

cd orbbec_camera/dependencies
tar -xzvf magic_enum-0.8.0.tar.gz
cd magic_enum-0.8.0
mkdir build && cd build
cmake .. && make -j4
sudo make install
sudo ldconfig

Install ORBBEC_SDK,First remove old one if you have installed, BE CAREFUL

# remove old If you have already installed
cd /usr/local/lib/
sudo rm libOrbbecSDK.so* # BE CAREFUL
sudo rm libpostfilter.so
cd /usr/local/include/
sudo rm -fr libobsensor

# install
cd orbbec_camera/dependencies
tar -xzvf sensor_sdk_v1.2.8_linux.tar.gz
cd SDK/lib
sudo cp libOrbbecSDK.so.1.2.8  /usr/local/lib
sudo cp  libpostfilter.so /usr/local/lib
sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so.1.2
sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so
cd ../include 
sudo cp -frd libobsensor /usr/local/include
sudo ldconfig

Other dependencies

sudo apt install libgoogle-glog-dev libgflags-dev nlohmann-json3-dev

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Getting start

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cd ~/ros2_ws/
# build release, Default is Debug
colcon build --event-handlers console_direct+ -DCMAKE_BUILD_TYPE=Release

Launch camera node

• On terminal 1

. ./install/setup.bash 
ros2 launch orbbec_camera ob_camera.launch.py

• On terminal 2

. ./install/setup.bash 
rviz2 -d src/orbbec_camera/rviz/pointcloud.rviz

• List topics / services/ parameters ( on terminal 3)

ros2 topic list
ros2 service list
ros2 param list

• Show depth to color extrinsic

ros2 topic echo --qos-durability=transient_local /camera/extrinsic/depth_to_color  --qos-profile=services_default

• Get device info

ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'

• Get SDK version

ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'

• Get exposure

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

If your check ir or depth, please change /camera/get_color_exposure to /camera/get_ir_exposure or /camera/get_depth_exposure, Same below.

• Get gain

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

• Get white balance

ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'

• Set auto exposure

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

• Set white balance

ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 4600}'

• Set laser enable

ros2 service call  /camera/set_laser_enable std_srvs/srv/SetBool "{data: true}" 
* ```

* toggle sensor 

```bash
ros2 service call  /camera/toggle_ir std_srvs/srv/SetBool "{data : true}"
* ```
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## Known issues
* TODO: