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4.3. Available Topics

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

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

4.3.1. Image Streams

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

  • /camera/color/image_raw

    • Raw image data from the color stream. Subscribe to this topic for non-MJPG color formats such as RGB or YUYV.

  • /camera/color/image_raw/compressed

    • Compressed image data from the MJPG color stream. When color_format:=MJPG is used, subscribe to this topic to avoid extra decoding in the ROS wrapper and reduce CPU usage.

  • /camera/color/camera_info

    • Camera calibration data and metadata for the color stream.

  • /camera/color/metadata

    • Low-level metadata from Color stream firmware.

  • /camera/depth/image_raw

    • Raw image data from the depth stream.

  • /camera/depth/camera_info

    • Camera calibration data and metadata for the depth stream.

  • /camera/depth/metadata

    • Low-level metadata from Depth stream firmware.

  • /camera/depth/image_unaligned

    • Depth image before software alignment.

    • Condition: Published when depth_registration is true and align_mode is SW; it is not published for hardware alignment.

  • /camera/confidence/image_raw

    • Confidence image generated by EnhancedDepthFilter, encoded as mono8 or mono16 according to the confidence frame format.

    • Condition: Published when enhanced depth filtering succeeds and the topic has a subscriber.

  • /camera/left_ir/image_raw

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

  • /camera/left_ir/camera_info

    • Camera calibration data and metadata for the left IR stream.

  • /camera/left_ir/metadata

    • Low-level metadata from Left IR stream firmware.

  • /camera/right_ir/image_raw

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

  • /camera/right_ir/camera_info

    • Camera calibration data and metadata for the right IR stream.

  • /camera/right_ir/metadata

    • Low-level metadata from Right IR stream firmware.

4.3.2. LRM Obstacle Distance

  • /camera/lrm/obstacle_distance

    • Publishes the obstacle distance measured by LRM. The message type is std_msgs/Int32, and the unit is millimeters.

    • Condition: Published only when enable_lrm_obstacle_distance_publish is true. Set the rate with lrm_obstacle_distance_publish_rate; the default is 10.0 Hz.

4.3.3. Point Cloud Topics

  • /camera/depth/points

    • Point cloud data generated from the depth stream.

    • Condition: Published only when enable_point_cloud is true.

  • /camera/depth_registered/points

    • Colored point cloud data, where the depth points are registered to the color image frame.

    • Condition: Published only when enable_colored_point_cloud is true.

4.3.4. IMU Topics

The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope samples together with their calibration information.

  • /camera/accel/sample

    • Individual accelerometer data stream.

    • Condition: Published when enable_accel is true and enable_sync_output_accel_gyro is false.

  • /camera/gyro/sample

    • Individual gyroscope data stream.

    • Condition: Published when enable_gyro is true and enable_sync_output_accel_gyro is false.

  • /camera/gyro_accel/sample

    • Synchronized accelerometer and gyroscope data in a single message.

    • Condition: Published when enable_sync_output_accel_gyro is true.

  • /camera/accel/imu_info

    • Accelerometer calibration and noise characteristics. The type is orbbec_camera/IMUInfo.

    • Condition: Available with accelerometer output.

  • /camera/gyro/imu_info

    • Gyroscope calibration and noise characteristics. The type is orbbec_camera/IMUInfo.

    • Condition: Available with gyroscope output.

4.3.5. Extrinsics Topics

The following topics publish stream-to-stream extrinsics with type orbbec_camera/Extrinsics:

  • /camera/depth_to_ir

  • /camera/depth_to_color

  • /camera/depth_to_left_ir

  • /camera/depth_to_right_ir

  • /camera/depth_to_accel

  • /camera/depth_to_gyro

Condition: Both streams represented by the selected topic must be enabled. Only topics supported by the connected device are published.

4.3.6. Device Status & Diagnostics

  • /diagnostics

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

  • /camera/depth_filters/status

    • Publishes the current enable state and parameters of depth filters, and updates when filter state changes.