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OrbbecSDK V2 ROS2 封装
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<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
<li class="toctree-l4"><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-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本(必需)</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1:配置 ROS 2 和工作空间环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2:启动相机节点</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3:在 RViz2 中可视化</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
<li class="toctree-l4"><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-l4"><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-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
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<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
<li class="toctree-l5"><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-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l4"><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-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. 可用服务</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
<li class="toctree-l5"><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-l4"><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-l4"><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-l4"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id12">4.2.7. 点云下采样</a></li>
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</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
<li class="toctree-l4"><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-l3"><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-l4"><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-l4"><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-l4"><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-l4"><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-l5"><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-l5"><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-l4"><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-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数:OBCameraNode::calcAndPublishStaticTransform()</a></li>
<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
<li class="toctree-l3"><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-l4"><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-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信:</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a></li>
</ul>
</li>
<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../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-l5"><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-l5"><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-l5"><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-l4"><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-l4"><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-l4"><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-l5"><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-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l5"><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-l4"><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-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
</ul>
</li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
<li class="toctree-l4"><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-l4"><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-l3"><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-l4"><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-l4"><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-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
<li class="toctree-l5"><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-l3"><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-l4"><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-l4"><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-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><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-l5"><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-l5"><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-l5"><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-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
<li class="toctree-l3"><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-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
<li class="toctree-l4"><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-l5"><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-l5"><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-l5"><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-l5"><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-l4"><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-l5"><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-l5"><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-l5"><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-l5"><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-l3"><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-l4"><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-l4"><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-l4"><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>
</li>
<li class="toctree-l2 current"><a class="current reference internal" href="#">8. 常见问题</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#id2">8.1. 意外崩溃</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id3">8.2. 多相机无数据流</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id4">8.3. 其他故障排除</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id5">8.4. 为什么有这么多启动文件?</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
<li class="toctree-l3"><a class="reference internal" href="#id7">8.6. 多相机启动或切换流时为什么需要设置延迟?</a></li>
<li class="toctree-l3"><a class="reference internal" href="#femto-bolt">8.7. femto bolt 深度流无数据</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点:</a></li>
<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例:</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
</ul>
</li>
</ul>
</li>
</ul>
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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="id1">
<h1><span class="section-number">8. </span>常见问题<a class="headerlink" href="#id1" title="链接到此标题。"></a></h1>
<section id="id2">
<h2><span class="section-number">8.1. </span>意外崩溃<a class="headerlink" href="#id2" title="链接到此标题。"></a></h2>
<p>如果相机节点意外崩溃,它将在当前运行目录中生成崩溃日志:<code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>。请将此日志发送给支持团队或提交到GitHub issue以获得进一步帮助。</p>
</section>
<section id="id3">
<h2><span class="section-number">8.2. </span>多相机无数据流<a class="headerlink" href="#id3" title="链接到此标题。"></a></h2>
<p><strong>电源供应不足</strong>:</p>
<ul class="simple">
<li><p>确保每个相机连接到单独的集线器。</p></li>
<li><p>使用有源集线器为每个相机提供足够的电力。</p></li>
</ul>
<p><strong>高分辨率</strong>:</p>
<ul class="simple">
<li><p>尝试降低分辨率以解决数据流问题。</p></li>
</ul>
<p><strong>增加usbfs_memory_mb值</strong>:</p>
<ul class="simple">
<li><p>通过运行以下命令将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到128MB(这是参考值,可根据系统需求调整):</p></li>
</ul>
<div class="highlight-default notranslate"><div class="highlight"><pre><span></span> <span class="n">echo</span> <span class="mi">128</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
</pre></div>
</div>
<ul class="simple">
<li><p>要使此更改永久生效,请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
</ul>
</section>
<section id="id4">
<h2><span class="section-number">8.3. </span>其他故障排除<a class="headerlink" href="#id4" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p>如果遇到其他问题,将 <code class="docutils literal notranslate"><span class="pre">log_level</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>。这将在运行目录中生成SDK日志文件:<code class="docutils literal notranslate"><span class="pre">Log/OrbbecSDK.log.txt</span></code>。请将此文件提供给支持团队以获得进一步帮助。</p></li>
<li><p>如果需要固件日志,将 <code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 以激活此功能。</p></li>
</ul>
</section>
<section id="id5">
<h2><span class="section-number">8.4. </span>为什么有这么多启动文件?<a class="headerlink" href="#id5" title="链接到此标题。"></a></h2>
<ul class="simple">
<li><p>不同的相机具有不同的默认分辨率和图像格式。</p></li>
<li><p>为简化使用,每个相机都有自己的启动文件。</p></li>
</ul>
</section>
<section id="id6">
<h2><span class="section-number">8.5. </span>多相机连接时如何指定启动某一个相机<a class="headerlink" href="#id6" title="链接到此标题。"></a></h2>
<p>如果启动文件未显式指定要使用的设备,在同时连接多台相机时,驱动会默认连接到其中一个(默认设备)。</p>
<p>可以先通过以下命令查看设备序列号:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
</pre></div>
</div>
<p>然后在启动时显式指定序列号,例如:</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>femto_bolt.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>CL8H741005J
</pre></div>
</div>
</section>
<section id="id7">
<h2><span class="section-number">8.6. </span>多相机启动或切换流时为什么需要设置延迟?<a class="headerlink" href="#id7" title="链接到此标题。"></a></h2>
<p>多相机系统对带宽和设备初始化时序要求较高。如果在同一时间启动或切换多个相机流,可能会引发带宽瞬时拥塞,进而导致设备初始化失败、流启动异常或丢帧等问题。为确保系统稳定性,建议注意以下几点:</p>
<ul>
<li><p><strong>多相机启动阶段</strong></p>
<p>在启动多个相机时,建议在每个相机启动之间增加适当的延迟(例如 <strong>2s</strong>),以避免瞬时带宽过载或底层设备初始化冲突。</p>
</li>
<li><p><strong>流开关与模式切换阶段</strong></p>
<p>在调用开关流相关服务(如 <code class="docutils literal notranslate"><span class="pre">set_streams_enable</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_depth</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_color</span></code>)时,不建议同时触发多个接口调用,应在各操作之间设置合理的时间间隔(例如 <strong>20 ms</strong>),以保证流状态切换的可靠性。</p>
</li>
</ul>
<p>遵循上述时序控制原则,有助于提升多相机系统在启动和运行过程中的稳定性,减少异常和不可预期行为的发生。</p>
</section>
<section id="femto-bolt">
<h2><span class="section-number">8.7. </span>femto bolt 深度流无数据<a class="headerlink" href="#femto-bolt" title="链接到此标题。"></a></h2>
<p>该模组运行时依赖 OpenGL 库,若系统未安装或驱动不完整,将导致深度流无数据。请先安装 OpenGL 相关库(以 Ubuntu 为例):</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>mesa-utils<span class="w"> </span>libgl1-mesa-glx<span class="w"> </span>libglu1-mesa
</pre></div>
</div>
<p>安装后可通过以下命令检查 OpenGL 是否可用:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>glxinfo<span class="w"> </span>-B
</pre></div>
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