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

Available Topics

Topics are organized by stream and function. By default, all topics are published under the /camera namespace, which can be changed with the camera_name launch parameter.

Note: Topics for a specific stream (e.g., /camera/color/...) are only published if their corresponding launch parameter (e.g., enable_color) is set to true.

Image Streams

These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for color, depth, ir, left_ir, and right_ir streams.

• /camera/color/image_raw

  • Raw image data from the color stream.

• /camera/color/camera_info

  • Camera calibration data and metadata for the color stream.

• /camera/color/metadata

  • Low-level metadata from the color stream firmware.

• /camera/depth/image_raw

  • Raw image data from the depth stream.

• /camera/depth/camera_info

  • Camera calibration data and metadata for the depth stream.

• /camera/depth/metadata

  • Low-level metadata from the depth stream firmware.

• /camera/ir/image_raw

  • Raw image data from the infrared (IR) stream.

• /camera/ir/camera_info

  • Camera calibration data and metadata for the IR stream.

• /camera/ir/metadata

  • Low-level metadata from the IR stream firmware.

Point Cloud Topics

• /camera/depth/points

  • Point cloud data generated from the depth stream.
  • Condition: Published only when enable_point_cloud is true.

• /camera/depth_registered/points

  • Colored point cloud data, where the depth points are registered to the color image frame.
  • Condition: Published only when enable_colored_point_cloud is true.

IMU Topics

The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.

• /camera/accel/sample

  • Individual accelerometer data stream.
  • Condition: Published when enable_accel is true AND enable_sync_output_accel_gyro is false.

• /camera/gyro/sample

  • Individual gyroscope data stream.
  • Condition: Published when enable_gyro is true AND enable_sync_output_accel_gyro is false.

• /camera/gyro_accel/sample

  • Synchronized data stream containing both accelerometer and gyroscope data in a single message.
  • Condition: Published when enable_sync_output_accel_gyro is true.

Device Status & Diagnostics

• /camera/device_status

  • Reports the current status of the camera device.

• /camera/depth_filter_status

  • Reports the status of the depth sensor's post-processing filters.

• /diagnostics

  • Publishes diagnostic information about the camera node. Currently, this includes the device temperature.