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<title>3.1. ROS 包快速入门 &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="../1_overview/overview.html">1. 概述</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 从源码构建</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.1.1. 环境配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.1.2. Linux ROS2 包装器编译</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. 注册脚本(必需)</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. 快速开始</a><ul class="current">
<li class="toctree-l2 current"><a class="current reference internal" href="#">3.1. ROS 包快速入门</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id1">3.1.1. 简介</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id2">3.1.2. 构建您的第一个相机应用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#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-l4"><a class="reference internal" href="#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
<li class="toctree-l4"><a class="reference internal" href="#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#id4">3.1.3. 示例功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id6">3.1.3.2. 回显话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="#id7">3.1.3.3. 调用服务</a></li>
<li class="toctree-l4"><a class="reference internal" href="#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#id1">3.2.1. 下载</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
</ul>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
<li class="toctree-l3"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数:<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l2"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 目录结构</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.2. 运行准备</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.3. 运行此示例</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.4. 需要更改的文件</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 相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</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. 深度 NFOV 和 WFOV 模式配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</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>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</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">5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</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#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置(启动文件)</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l3"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../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-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
<li class="toctree-l4"><a class="reference internal" href="../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-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
</ul>
</li>
</ul>
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<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件?</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="#">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><section id="ros">
<h1><span class="section-number">3.1. </span>ROS 包快速入门<a class="headerlink" href="#ros" title="Link to this heading"></a></h1>
<section id="id1">
<h2><span class="section-number">3.1.1. </span>简介<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
<p>本节提供 Orbbec ROS 2 包装器的快速入门指南。
您将学习如何:</p>
<ul class="simple">
<li><p>启动相机节点。</p></li>
<li><p>在 <strong>RViz2</strong> 中可视化深度/彩色流。</p></li>
<li><p>使用 <strong>ROS 2 CLI 工具</strong>与话题和服务交互。</p></li>
</ul>
</section>
<hr class="docutils" />
<section id="id2">
<h2><span class="section-number">3.1.2. </span>构建您的第一个相机应用<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
<section id="ros-2">
<h3><span class="section-number">3.1.2.1. </span>步骤 1:配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h3>
<p>确保已配置 ROS 2 和工作空间环境:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/setup.bash
<span class="nb">source</span><span class="w"> </span>~/ros2_ws/install/setup.bash
</pre></div>
</div>
</section>
<section id="id3">
<h3><span class="section-number">3.1.2.2. </span>步骤 2:启动相机节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p>在终端 1 中</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>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node<span class="w"> </span><span class="c1">#检查相机是否已连接</span>
ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="c1"># 或其他启动文件,见下表</span>
</pre></div>
</div>
<p>如果您连接了多个相机,可以指定<strong>序列号</strong>:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>&lt;您的相机序列号&gt;
</pre></div>
</div>
</section>
<section id="rviz2">
<h3><span class="section-number">3.1.2.3. </span>步骤 3:在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
<p>启动 RViz2 并加载默认配置:</p>
<ul class="simple">
<li><p>在终端 2 中</p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
</pre></div>
</div>
<ul class="simple">
<li><p>添加一个 <strong>Image</strong> 显示,将话题设置为 <code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code>。</p></li>
<li><p>为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code> 添加另一个 <strong>Image</strong> 显示。</p></li>
<li><p>可选:为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 添加 <strong>PointCloud2</strong> 显示。</p></li>
</ul>
<p>现在您应该能在 RViz2 中看到彩色流、深度流和 3D 点云。</p>
</section>
</section>
<hr class="docutils" />
<section id="id4">
<h2><span class="section-number">3.1.3. </span>示例功能<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
<p>节点运行后,尝试一些 ROS 2 CLI 命令:</p>
<section id="id5">
<h3><span class="section-number">3.1.3.1. </span>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span>list
ros2<span class="w"> </span>service<span class="w"> </span>list
ros2<span class="w"> </span>param<span class="w"> </span>list
</pre></div>
</div>
</section>
<section id="id6">
<h3><span class="section-number">3.1.3.2. </span>回显话题<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
<p>查看深度相机数据:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/depth/camera_info
</pre></div>
</div>
</section>
<section id="id7">
<h3><span class="section-number">3.1.3.3. </span>调用服务<a class="headerlink" href="#id7" title="Link to this heading"></a></h3>
<p>例如,获取设备信息:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
</section>
<section id="rosbag2">
<h3><span class="section-number">3.1.3.4. </span>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="Link to this heading"></a></h3>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/camera/color/image_raw<span class="w"> </span>/camera/depth/image_raw
</pre></div>
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