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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>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</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>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-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. ROS Package QuickStarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</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>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
<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>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</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>
<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</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>
</ul>
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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>
<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: <code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
</ul>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
</ul>
</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/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi_camera_synced_verification_tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#directory-structure">5.2.3.1. Directory Structure</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
</ul>
</li>
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</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
</ul>
</li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. 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>
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<div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</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><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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