OrbbecSDK V2 ROS1 Wrapper
  • Camera Devices
    • 1. Overview
      • 1.1. Introduction
        • 1.1.1. Support Hardware Products
        • 1.1.2. Orbbec camera datasheet
        • 1.1.3. Support Platforms
      • 1.2. Orbbec SDK Overview
        • 1.2.1. Terms
        • 1.2.2. Orbbec SDK v2 Architecture Overview
        • 1.2.3. SDK Concept Overview
        • 1.2.4. SDK Programming Model
    • 2. Installation
      • 2.1. Build from Source
        • 2.1.1. Environment
        • 2.1.2. Create ROS Workspace and Build
      • 2.2. Registration script (required)
    • 3. Quickstarts
      • 3.1. ROS Package QuickStarts
        • 3.1.1. Introduction
        • 3.1.2. Build your First Camera Application
          • 3.1.2.1. Step 1: Source ROS 1 and Workspace
          • 3.1.2.2. Step 2: Launch the Camera Node
          • 3.1.2.3. Step 3: Visualize in RViz
        • 3.1.3. Sample Features
          • 3.1.3.1. List available topics / services / parameters
          • 3.1.3.2. Echo a topic
          • 3.1.3.3. Call a service
          • 3.1.3.4. Record with rosbag
      • 3.2. OrbbecViewer QuickStarts
        • 3.2.1. Download
        • 3.2.2. Connect the device
        • 3.2.3. Camera Control
        • 3.2.4. Device information and firmware upgrade
    • 4. Application Guide
      • 4.1. Launch parameters
        • 4.1.1. Core & Stream Configuration
        • 4.1.2. Sensor Controls
          • 4.1.2.1. Color Stream
          • 4.1.2.2. Depth Stream
          • 4.1.2.3. IR Stream
          • 4.1.2.4. Laser / LDP
        • 4.1.3. Device, Sync & Advanced Features
          • 4.1.3.1. Multi-Camera Synchronization
          • 4.1.3.2. Network Cameras
          • 4.1.3.3. Device-Specific
          • 4.1.3.4. Disparity
          • 4.1.3.5. Interleave AE Mode
          • 4.1.3.6. Intra-Camera Synchronization
        • 4.1.4. Basic & General Parameters
          • 4.1.4.1. Firmware & Backend
          • 4.1.4.2. TF, Extrinsics & Calibration
          • 4.1.4.3. Time Synchronization
          • 4.1.4.4. Logging & Diagnostics
          • 4.1.4.5. Miscellaneous
        • 4.1.5. IMU
        • 4.1.6. Depth Filters
      • 4.2. All available services for camera control
        • 4.2.1. Color Stream
        • 4.2.2. Depth Stream
        • 4.2.3. IR Stream
        • 4.2.4. Sensor & Emitter Control
        • 4.2.5. Device Information & Management
        • 4.2.6. Synchronization
        • 4.2.7. Depth Filter Configuration
        • 4.2.8. Data Capture & Calibration Management
      • 4.3. Available Topics
        • 4.3.1. Image Streams
        • 4.3.2. Point Cloud Topics
        • 4.3.3. Device Status & Diagnostics
      • 4.4. Coordinate Systems and TF Transforms
        • 4.4.1. Camera sensor structure
        • 4.4.2. ROS Robot Coordinate System vs Camera Optical Coordinate System
        • 4.4.3. Using ROS1 TF Tools
          • 4.4.3.1. View TF Tree Structure
          • 4.4.3.2. Visualize the TF Tree in rviz
        • 4.4.4. ROS1 Camera TF Calculation and Publication Mechanism
          • 4.4.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()
          • 4.4.4.2. Function Explanation
      • 4.5. nabling and Visualizing Point Cloud in ROS 1
        • 4.5.1. Enabling Depth Point Cloud
          • 4.5.1.1. Command to Enable Depth Point Cloud
          • 4.5.1.2. Visualizing Depth Point Cloud in RViz
        • 4.5.2. Enabling Colored Point Cloud
          • 4.5.2.1. Command to Enable Colored Point Cloud
          • 4.5.2.2. Visualizing Colored Point Cloud in RViz
    • 5. Advanced Guide
      • 5.1. Performance & Optimization
        • 5.1.1. Reducing CPU Usage with Orbbec ROS Package
          • 5.1.1.1. Recommended Settings for Lower CPU Usage
          • 5.1.1.2. Launch Files Used for Testing
          • 5.1.1.3. Test environment
          • 5.1.1.4. Test Setup
          • 5.1.1.5. Test Results
          • 5.1.1.6. uvc_backend Comparison (RGB format)
          • 5.1.1.7. color_format Comparison (MJPG vs RGB)
          • 5.1.1.8. Filter Configuration Impact
          • 5.1.1.9. Further Optimization
      • 5.2. Multi-Camera
        • 5.2.1. Using Multiple Cameras with the Orbbec ROS Package
          • 5.2.1.1. Prerequisites
          • 5.2.1.2. Increase usbfs_memory_mb Value (CRITICAL STEP)
          • 5.2.1.3. Identifying Camera USB Ports
          • 5.2.1.4. Launching Multiple Cameras
          • 5.2.1.5. Configuring the TF Tree for Multiple Cameras
        • 5.2.2. Multi_camera synced Instructions
          • 5.2.2.1. Setup instructions
          • 5.2.2.2. Checking camera port with OrbbecSDK_ROS1
          • 5.2.2.3. OrbbecSDK_ROS1 multi-camera synced configuration
          • 5.2.2.4. Run the following command to start the multi-camera synced
        • 5.2.3. Multi-Camera Synchronization Verification Node
          • 5.2.3.1. Usage Guide
          • 5.2.3.2. System Configuration Requirements
        • 5.2.4. Configuring Multiple Cameras with Orbbec ROS Package (Nodelet)
          • 5.2.4.1. Configuring the Nodelet Manager
          • 5.2.4.2. Configuring Camera Nodelets
          • 5.2.4.3. Configuring Camera Parameters
        • 5.2.5. Usage Limitations of GMSL Cameras
      • 5.3. Configuration & Modes
        • 5.3.1. Aligning Depth to Color in ROS
          • 5.3.1.1. Commands to Align and View Depth and Color Images
          • 5.3.1.2. Selecting Topics in RViz
          • 5.3.1.3. Example of Depth to Color Overlay
        • 5.3.2. Configuration of depth NFOV and WFOV modes
        • 5.3.3. Depth work mode switch
        • 5.3.4. Disparity_search_offset
          • 5.3.4.1. Function Introduction
          • 5.3.4.2. Parameter Introduction
          • 5.3.4.3. Run the launch
        • 5.3.5. Using interleave_ae with Gemini330 series cameras
          • 5.3.5.1. Parameter Introduction
          • 5.3.5.2. Run the launch
          • 5.3.5.3. Multi_camera_synced + Interleave_ae
        • 5.3.6. Predefined presets
        • 5.3.7. Net_camera
          • 5.3.7.1. Femto Mega
          • 5.3.7.2. set_device_ip Utility
          • 5.3.7.3. Force IP Function
    • 6. Benchmark
      • 6.1. Introduction
        • 6.1.1. common benchmark node
        • 6.1.2. service benchmark node
      • 6.2. Benchmark Usage
        • 6.2.1. Using common benchmark node
        • 6.2.2. Using service benchmark node
          • 6.2.2.1. ROS1 C++
          • 6.2.2.2. ROS1 Python
          • 6.2.2.3. Example YAML configuration
      • 6.3. Benchmark Data
        • 6.3.1. Common Benckmark Data
        • 6.3.2. Service Benchmark Data
    • 7. Developer Guide
      • 7.1. Migrating from main to Open-Source v2-main
        • 7.1.1. Introduction
        • 7.1.2. Advantages of Migrating from main to v2-main
          • 7.1.2.1. Comprehensive Device Support
          • 7.1.2.2. Transparency and Extensibility
          • 7.1.2.3. Advantages in Maintenance and Updates
          • 7.1.2.4. Community and Ecosystem Support
        • 7.1.3. Comparison Between main and v2-main Branches
          • 7.1.3.1. Launch File Differences
          • 7.1.3.2. Parameter Differences
          • 7.1.3.3. Topic Differences
          • 7.1.3.4. Service Differences
      • 7.2. Building a Debian Package
    • 8. Frequently Asked Questions
      • 8.1. Unexpected Crash
      • 8.2. No Data Stream from Multiple Cameras
      • 8.3. Compilation Failure Due to OpenCV Version Issues
      • 8.4. Additional Troubleshooting
      • 8.5. Why Are There So Many Launch Files?
      • 8.6. How to Launch a Specific Camera When Multiple Cameras Are Connected
      • 8.7. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
  • Lidar Devices
    • 1. Installation
      • 1.1. Prerequisites
      • 1.2. Install Dependencies
      • 1.3. Install udev Rules
      • 1.4. Build the Package
      • 1.5. Launch the LiDAR Node
    • 2. Usage
      • 2.1. Running the Driver
      • 2.2. Get Device Information for Connected LiDARs
      • 2.3. Check Which Configurations the LiDAR Supports
      • 2.4. 2.4 Parameters and Configuration
    • 3. Point Cloud Data Details
      • 3.1. Point Cloud Format
      • 3.2. Point Cloud Aggregation Functionality
        • 3.2.1. Features:
        • 3.2.2. Usage Examples:
    • 4. IMU Data
      • 4.1. IMU Topics
      • 4.2. Using IMU Data
OrbbecSDK V2 ROS1 Wrapper
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© Copyright 2025, ORBBEC INC. www.orbbec.com.. Last updated on 2026-01-04 07:13:43.