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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/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="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</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-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>
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<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 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l3"><a class="reference internal" href="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="services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="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="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
</ul>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">4.3. Available Topics</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
</ul>
</li>
</ul>
</li>
<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/align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/benchmark.html">5.2. Ob_benchmark tool</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html">5.9. GMSL_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera.html">5.12. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.13.1.2. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.13.1.3. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html">5.14. Multi_camera_synced_verification_tool</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#directory-structure">5.14.1. Directory Structure</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#multicamera-sync">5.14.1.1. multicamera_sync</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#output">5.14.1.1.1. output</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#python">5.14.1.1.2. Python</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#preparation-for-operation">5.14.2. Preparation for operation</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#save-rgbir-node">5.14.2.1. save_rgbir node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#devicesinfo-txt">5.14.2.2. DevicesInfo.txt</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#config-ini">5.14.2.3. Config.ini</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-this-example">5.14.3. Run this example</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-pictures-naming-format">5.14.3.2. Camera pictures naming format</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analyzing-camera-image-data">5.14.3.3. Analyzing camera image data</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.14.4. Files that need to be changed</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera_synced_verification_tool.html#camera-configuration">5.14.4.2. Camera Configuration</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/net_camera.html">5.15. Net_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#femto-mega-gemini-435le">5.15.1. Femto Mega &amp; Gemini 435Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#single-net-camera">5.15.1.2. Single Net camera</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#gemini-335le">5.15.2. Gemini 335Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/net_camera.html#id1">5.15.2.1. Single Net camera</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/net_camera.html#multi-net-camera">5.15.3. Multi Net camera</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#enabling-colored-point-cloud">5.16.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</li>
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<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/predefined_presets.html">5.17. Predefined presets</a></li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#why-are-there-so-many-launch-files">6.4. Why Are There So Many Launch Files?</a></li>
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<li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
<li class="breadcrumb-item active"><span class="section-number">4.3. </span>Available Topics</li>
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<section id="available-topics">
<h1><span class="section-number">4.3. </span>Available Topics<a class="headerlink" href="#available-topics" title="Link to this heading"></a></h1>
<p>Topics are organized by stream and function. By default, all topics are published under the <code class="docutils literal notranslate"><span class="pre">/camera</span></code> namespace, which can be changed with the <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> launch parameter.</p>
<blockquote>
<div><p><strong>Note:</strong> Topics for a specific stream (e.g., <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>) are only published if their corresponding launch parameter (e.g., <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>) is set to <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p>
</div></blockquote>
<section id="image-streams">
<h2><span class="section-number">4.3.1. </span>Image Streams<a class="headerlink" href="#image-streams" title="Link to this heading"></a></h2>
<p>These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for <code class="docutils literal notranslate"><span class="pre">color</span></code>, <code class="docutils literal notranslate"><span class="pre">depth</span></code>, <code class="docutils literal notranslate"><span class="pre">ir</span></code>, <code class="docutils literal notranslate"><span class="pre">left_ir</span></code>, and <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> streams.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
<ul>
<li><p>Raw image data from the color stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/camera_info</span></code></p>
<ul>
<li><p>Camera calibration data and metadata for the color stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/metadata</span></code></p>
<ul>
<li><p>Low-level metadata from the color stream firmware.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code></p>
<ul>
<li><p>Raw image data from the depth stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/camera_info</span></code></p>
<ul>
<li><p>Camera calibration data and metadata for the depth stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/metadata</span></code></p>
<ul>
<li><p>Low-level metadata from the depth stream firmware.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/image_raw</span></code></p>
<ul>
<li><p>Raw image data from the infrared (IR) stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/camera_info</span></code></p>
<ul>
<li><p>Camera calibration data and metadata for the IR stream.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/metadata</span></code></p>
<ul>
<li><p>Low-level metadata from the IR stream firmware.</p></li>
</ul>
</li>
</ul>
</section>
<section id="point-cloud-topics">
<h2><span class="section-number">4.3.2. </span>Point Cloud Topics<a class="headerlink" href="#point-cloud-topics" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
<ul>
<li><p>Point cloud data generated from the depth stream.</p></li>
<li><p><strong>Condition:</strong> Published only when <code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code> is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code></p>
<ul>
<li><p>Colored point cloud data, where the depth points are registered to the color image frame.</p></li>
<li><p><strong>Condition:</strong> Published only when <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
</ul>
</li>
</ul>
</section>
<section id="imu-topics">
<h2><span class="section-number">4.3.3. </span>IMU Topics<a class="headerlink" href="#imu-topics" title="Link to this heading"></a></h2>
<p>The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
<ul>
<li><p>Individual accelerometer data stream.</p></li>
<li><p><strong>Condition:</strong> Published when <code class="docutils literal notranslate"><span class="pre">enable_accel</span></code> is <code class="docutils literal notranslate"><span class="pre">true</span></code> AND <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> is <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro/sample</span></code></p>
<ul>
<li><p>Individual gyroscope data stream.</p></li>
<li><p><strong>Condition:</strong> Published when <code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code> is <code class="docutils literal notranslate"><span class="pre">true</span></code> AND <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> is <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro_accel/sample</span></code></p>
<ul>
<li><p>Synchronized data stream containing both accelerometer and gyroscope data in a single message.</p></li>
<li><p><strong>Condition:</strong> Published when <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
</ul>
</li>
</ul>
</section>
<section id="device-status-diagnostics">
<h2><span class="section-number">4.3.4. </span>Device Status &amp; Diagnostics<a class="headerlink" href="#device-status-diagnostics" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
<ul>
<li><p>Reports the current status of the camera device.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_filter_status</span></code></p>
<ul>
<li><p>Reports the status of the depth sensor’s post-processing filters.</p></li>
</ul>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/diagnostics</span></code></p>
<ul>
<li><p>Publishes diagnostic information about the camera node. Currently, this includes the device temperature.</p></li>
</ul>
</li>
</ul>
</section>
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