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<title>1. 安装 &mdash; OrbbecSDK V2 ROS2 封装 文档</title>
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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1"><a class="reference internal" href="../camera_devices/index.html">Camera Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/1_overview/overview.html">1. 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/introduction.html">1.1. 引言</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../camera_devices/2_installation/installation.html">2. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html">2.1. 环境配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html#id2">2.2. 二进制安装</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html#id3">2.3. 从源码构建</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html">2.4. 注册脚本(必需)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
</ul>
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<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../camera_devices/4_application_guide/application_guide.html">4. 应用指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id12">4.2.7. 特定设备</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#id13">4.2.8. 点云下采样</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. 对齐深度到彩色</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#id3">5.3.1.3. 深度到彩色叠加示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/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-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. 设备预设</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#gemini-330-gemini-330l-gemini-335-gemini-335l">5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#gemini-336-gemini-336l">5.3.6.2. Gemini 336 / Gemini 336L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#gemini-2">5.3.6.3. Gemini 2</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#gemini-2l">5.3.6.4. Gemini 2L</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#gemini-305">5.3.6.5. Gemini 305</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html#id2">5.3.6.6. 扩展预设</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html">6.1. 介绍</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html">8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟?</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#femto-bolt">8.7. femto bolt 深度流无数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id8">8.8. 图像未达到预设帧率</a></li>
<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#id9">8.9. 软触发模式相关问题</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1 current"><a class="reference internal" href="index.html">Lidar Devices</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id13">3.2.1. 功能特点:</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id14">3.2.2. 使用示例:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id16">4.2. 使用IMU数据</a></li>
</ul>
</li>
</ul>
</li>
</ul>
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<a href="../../index.html">OrbbecSDK V2 ROS2 封装</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><p>本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息,帮助您快速开始使用此驱动。</p>
<section id="id1">
<h1><span class="section-number">1. </span>安装<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<section id="id2">
<h2><span class="section-number">1.1. </span>先决条件<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<p>在使用OrbbecSDK ROS2 LiDAR驱动程序之前,请确保您的系统上安装了以下依赖项:</p>
<ul class="simple">
<li><p><strong>ROS2</strong>:Humble、Jazzy 或其他受支持的发行版。</p>
<ul>
<li><p>如果您需要帮助,请参阅<a class="reference external" href="https://docs.ros.org/en/foxy/Installation.html">ROS2安装指南</a>。</p></li>
</ul>
</li>
</ul>
</section>
<section id="deb">
<h2><span class="section-number">1.2. </span>安装deb依赖项<a class="headerlink" href="#deb" title="链接到此标题。"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 假设您已经配置了ROS环境,下同</span>
sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span><span class="se">\</span>
ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev
</pre></div>
</div>
</section>
<section id="udev">
<h2><span class="section-number">1.3. </span>安装udev规则<a class="headerlink" href="#udev" title="链接到此标题。"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
</pre></div>
</div>
</section>
<section id="id3">
<h2><span class="section-number">1.4. </span>构建包<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
<span class="c1"># 构建发布版本,默认为调试版本</span>
colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
</pre></div>
</div>
</section>
<section id="id4">
<h2><span class="section-number">1.5. </span>启动激光雷达节点<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p>第一个终端</p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py
</pre></div>
</div>
<ul class="simple">
<li><p>第二个终端</p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
rviz2
</pre></div>
</div>
<ol class="simple">
<li><p>打开Rviz2。</p></li>
<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>或 <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>显示。</p></li>
<li><p>对于 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>,选择 <code class="docutils literal notranslate"><span class="pre">/lidar/cloud/points</span></code>话题;对于 <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>,选择 <code class="docutils literal notranslate"><span class="pre">/lidar/scan/points</span></code>话题。</p></li>
<li><p>将 <code class="docutils literal notranslate"><span class="pre">Fixed</span> <span class="pre">Frame</span></code>设置为 <code class="docutils literal notranslate"><span class="pre">lidar_lidar_frame</span></code>以正确对齐数据。</p></li>
</ol>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>可视化示例:</p></li>
</ul>
<p><img alt="rviz2中的模块" src="../../_images/lidar0.jpg" /></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>可视化示例:</p></li>
</ul>
<p><img alt="rviz2中的模块" src="../../_images/lidar1.png" /></p>
</section>
</section>
<section id="id5">
<h1><span class="section-number">2. </span>使用方法<a class="headerlink" href="#id5" title="链接到此标题。"></a></h1>
<section id="id6">
<h2><span class="section-number">2.1. </span>运行驱动<a class="headerlink" href="#id6" title="链接到此标题。"></a></h2>
<p>要启动驱动,请启动提供的ROS2启动文件:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
<span class="c1"># 启动带有点云数据的驱动</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT
<span class="c1"># 启动带有球面点云数据的驱动</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT
<span class="c1"># 启动带有激光扫描数据的驱动</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SCAN
<span class="c1"># 启动启用IMU的驱动</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
<span class="c1"># 启动同时包含点云和IMU数据的驱动</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>100hz
</pre></div>
</div>
<p>此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。</p>
</section>
<section id="id7">
<h2><span class="section-number">2.2. </span>获取已连接激光雷达的设备信息<a class="headerlink" href="#id7" title="链接到此标题。"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
</pre></div>
</div>
<p>此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。</p>
</section>
<section id="id8">
<h2><span class="section-number">2.3. </span>检查激光雷达支持的配置<a class="headerlink" href="#id8" title="链接到此标题。"></a></h2>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
</pre></div>
</div>
</section>
<section id="id9">
<h2><span class="section-number">2.4. </span>2.4 参数和配置<a class="headerlink" href="#id9" title="链接到此标题。"></a></h2>
<p><code class="docutils literal notranslate"><span class="pre">lidar.launch.py</span></code>文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括:</p>
<ul class="simple">
<li><p><strong>device_type</strong>: 要启动的设备类型。可选值:<code class="docutils literal notranslate"><span class="pre">lidar</span></code>、<code class="docutils literal notranslate"><span class="pre">camera</span></code>。将此参数设置为 <code class="docutils literal notranslate"><span class="pre">lidar</span></code>启动激光雷达设备,设置为 <code class="docutils literal notranslate"><span class="pre">camera</span></code>启动摄像头设备。</p></li>
<li><p><strong>camera_name</strong>: 启动节点命名空间。</p></li>
<li><p><strong>device_num</strong>: 设备数量。如果需要启动多个设备,则必须填写此项。</p></li>
<li><p><strong>upgrade_firmware</strong>: 固件升级功能。输入参数是固件路径。</p></li>
<li><p><strong>connection_delay</strong>: 重新打开设备的延迟时间(毫秒)。在热插拔期间立即重新打开设备可能导致固件崩溃。</p></li>
<li><p><strong>publish_tf</strong>: 启用TF发布。</p></li>
<li><p><strong>tf_publish_rate</strong>: TF发布频率。</p></li>
<li><p><strong>lidar_format</strong>: 激光雷达的数据格式。可选值:<code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code>、<code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code>、<code class="docutils literal notranslate"><span class="pre">LIDAR_SCAN</span></code></p></li>
<li><p><strong>lidar_rate</strong>: 激光雷达的扫描频率。</p></li>
<li><p><strong>publish_n_pkts</strong>: 多帧数据合并发布的帧数量。范围:1-12000。仅在激光雷达格式为 <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> 或 <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code> 时生效,用于累积指定数量的帧后再发布合并的点云数据。默认值:<code class="docutils literal notranslate"><span class="pre">1</span></code></p></li>
<li><p><strong>enable_scan_to_point</strong>: 启用扫描数据到点云数据的转换,发布PointCloud2数据类型话题。</p></li>
<li><p><strong>repetitive_scan_mode</strong>: 重复扫描模式参数。</p></li>
<li><p><strong>filter_level</strong>: 添加过滤级别参数。</p></li>
<li><p><strong>vertical_fov</strong>: 垂直角度参数。</p></li>
<li><p><strong>min_angle</strong>: 激光雷达扫描范围的最小角度(度)(例如,<code class="docutils literal notranslate"><span class="pre">-135.0</span></code>)。默认值:<code class="docutils literal notranslate"><span class="pre">-135.0</span></code></p></li>
<li><p><strong>max_angle</strong>: 激光雷达扫描范围的最大角度(度)(例如,<code class="docutils literal notranslate"><span class="pre">135.0</span></code>)。默认值:<code class="docutils literal notranslate"><span class="pre">135.0</span></code></p></li>
<li><p><strong>min_range</strong>: 激光雷达可测量的最小距离(米)。默认值:<code class="docutils literal notranslate"><span class="pre">0.05</span></code></p></li>
<li><p><strong>max_range</strong>: 激光雷达可测量的最大距离(米)。默认值:<code class="docutils literal notranslate"><span class="pre">30.0</span></code></p></li>
<li><p><strong>echo_mode</strong>: 激光雷达的回波模式。可选值:<code class="docutils literal notranslate"><span class="pre">Last</span> <span class="pre">Echo</span></code>、<code class="docutils literal notranslate"><span class="pre">First</span> <span class="pre">Echo</span></code></p></li>
<li><p><strong>point_cloud_qos</strong>: ROS 2消息服务质量(QoS)设置。可能的值包括 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>,不区分大小写。这些值分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
<li><p><strong>enumerate_net_device</strong>: 启用网络设备的自动枚举。</p></li>
<li><p><strong>net_device_ip</strong>: 网络设备的IP地址。</p></li>
<li><p><strong>net_device_port</strong>: 网络端的端口号。</p></li>
<li><p><strong>log_level</strong>: SDK日志级别,默认值为 <code class="docutils literal notranslate"><span class="pre">none</span></code>,可选值为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>、<code class="docutils literal notranslate"><span class="pre">info</span></code>、<code class="docutils literal notranslate"><span class="pre">warn</span></code>、<code class="docutils literal notranslate"><span class="pre">error</span></code>、<code class="docutils literal notranslate"><span class="pre">fatal</span></code></p></li>
<li><p><strong>time_domain</strong>: 设备的时间戳类型。可选值为 <code class="docutils literal notranslate"><span class="pre">device</span></code>、<code class="docutils literal notranslate"><span class="pre">global</span></code>、<code class="docutils literal notranslate"><span class="pre">system</span></code></p></li>
<li><p><strong>config_file_path</strong>: YAML配置文件的路径。默认值为&quot;&quot;。如果未指定配置文件,将使用启动文件中的默认参数。</p></li>
<li><p><strong>enable_heartbeat</strong>: 启用心跳功能,默认为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。如果设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code>,相机节点将向固件发送心跳信号;如果需要硬件日志记录,也应将其设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
<li><p><strong>enable_imu</strong>: 启用IMU(加速度计+陀螺仪)并输出统一的IMU话题数据。</p></li>
<li><p><strong>imu_rate</strong>: IMU的统一频率(加速度计和陀螺仪)。</p></li>
<li><p><strong>accel_range</strong>: 加速度计的量程。</p></li>
<li><p><strong>gyro_range</strong>: 陀螺仪的量程。</p></li>
<li><p><strong>linear_accel_cov</strong>: 线性加速度协方差值,默认为 <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>。</p></li>
<li><p><strong>angular_vel_cov</strong>: 角速度协方差值,默认为 <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>。</p></li>
</ul>
</section>
</section>
<section id="id10">
<h1><span class="section-number">3. </span>点云数据详细说明<a class="headerlink" href="#id10" title="链接到此标题。"></a></h1>
<section id="id11">
<h2><span class="section-number">3.1. </span>点云格式<a class="headerlink" href="#id11" title="链接到此标题。"></a></h2>
<p>PointCloud2 (PointXYZITO) 点云格式如下:</p>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">float32</span> <span class="n">x</span> <span class="c1"># X轴,单位:米</span>
<span class="n">float32</span> <span class="n">y</span> <span class="c1"># Y轴,单位:米</span>
<span class="n">float32</span> <span class="n">z</span> <span class="c1"># Z轴,单位:米</span>
<span class="n">uint8</span> <span class="n">intensity</span> <span class="c1"># 激光雷达强度</span>
<span class="n">uint8</span> <span class="n">tag</span> <span class="c1"># 激光雷达标签</span>
<span class="n">uint32</span> <span class="n">offset_time</span> <span class="c1"># 点云相对话题时间的偏移量,单位纳秒</span>
</pre></div>
</div>
</section>
<section id="id12">
<h2><span class="section-number">3.2. </span>点云聚合功能<a class="headerlink" href="#id12" title="链接到此标题。"></a></h2>
<p>通过 <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> 参数可以开启点云聚合功能,该功能允许激光雷达在发布数据前累积指定数量的帧,然后将这些帧合并为一个更大的点云数据包进行发布。</p>
<section id="id13">
<h3><span class="section-number">3.2.1. </span>功能特点:<a class="headerlink" href="#id13" title="链接到此标题。"></a></h3>
<ul class="simple">
<li><p><strong>参数范围</strong>: 1-12000 帧</p></li>
<li><p><strong>适用格式</strong>: 仅在激光雷达格式为 <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> 或 <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code> 时有效</p></li>
<li><p><strong>默认值</strong>: 1(即不聚合,每帧单独发布)</p></li>
<li><p><strong>用途</strong>: 提高点云密度,适用于需要更密集点云数据的应用场景</p></li>
</ul>
</section>
<section id="id14">
<h3><span class="section-number">3.2.2. </span>使用示例:<a class="headerlink" href="#id14" title="链接到此标题。"></a></h3>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 聚合10帧数据后发布</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">10</span>
<span class="c1"># 聚合100帧数据后发布</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">100</span>
</pre></div>
</div>
<p><strong>注意</strong>: 增加 <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> 值会提高点云密度,但同时会增加延迟和内存使用量,请根据实际应用需求进行调整。</p>
</section>
</section>
</section>
<section id="imu">
<h1><span class="section-number">4. </span>IMU数据<a class="headerlink" href="#imu" title="链接到此标题。"></a></h1>
<section id="id15">
<h2><span class="section-number">4.1. </span>IMU话题<a class="headerlink" href="#id15" title="链接到此标题。"></a></h2>
<p>启用IMU时,将发布以下话题:</p>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/imu/sample</span></code></strong>: 统一的IMU话题,包含 <code class="docutils literal notranslate"><span class="pre">sensor_msgs/Imu</span></code>格式的同步加速度计和陀螺仪数据。</p></li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/lidar_to_imu</span></code></strong>: 从激光雷达坐标系到IMU坐标系的变换。</p></li>
</ul>
</section>
<section id="id16">
<h2><span class="section-number">4.2. </span>使用IMU数据<a class="headerlink" href="#id16" title="链接到此标题。"></a></h2>
<p>要启用IMU数据采集:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 启动并启用IMU</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
<span class="c1"># 检查IMU话题</span>
ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>imu
<span class="c1"># 查看IMU数据</span>
ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/lidar/imu/sample
</pre></div>
</div>
<p>IMU数据包括:</p>
<ul class="simple">
<li><p><strong>linear_acceleration</strong>: 3D加速度数据(x、y、z),单位:m/s²</p></li>
<li><p><strong>angular_velocity</strong>: 3D角速度数据(x、y、z),单位:rad/s</p></li>
<li><p><strong>orientation</strong>: 四元数方向(硬件不提供,设置为零)</p></li>
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