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5.3.13. Net Camera

This section describes how to use Net camera in OrbbecSDK_ROS. Currently, only Femto Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.

You can find example usage code in the example.

5.3.13.1. Femto Mega & Gemini 435Le & Gemini 335Le

Parameter Introduction

Network device settings: enumerate_net_device is set to true, which will automatically enumerate network devices.

If you do not want to automatically enumerate network devices, you can set enumerate_net_device to false, net_device_ip to the device’s IP address, and net_device_port to the default value of 8090.

  • enumerate_net_device: Enable automatically enumerate network devices.

  • net_device_ip: Set net device’s IP address.

  • net_device_port: Set net device’s port. Usually, you can set it to 8090.

Single Net camera

If you need to run Gemini 435Le/Gemini 335Le, replace femto_mega.launch in the run command with gemini435_le.launch or gemini_330_series.launch.

For femto_mega.launch as an example:

Automatically enumerate network devices:

roslaunch orbbec_camera femto_mega.launch enumerate_net_device:=true

Specify IP address to start the device:

Note: net_device_ip needs to be changed to the IP address of the device, here it is 192.168.1.10.

roslaunch orbbec_camera femto_mega.launch enumerate_net_device:=false net_device_ip:=192.168.1.10 net_device_port:=8090

Multi Net camera

For multi_net_camera.launch as an example:

roslaunch orbbec_camera multi_net_camera.launch

Use list_devices_node to inspect connected devices. Since v2.8.x, this tool also prints firmware version, local network interface name for Ethernet devices, and IP source type (NONE, LLA, DHCP, PERSISTENT).

5.3.13.2. ip_config_tool Utility

The ip_config_tool executable allows you to configure network camera IP settings directly from ROS1, including DHCP, static IP, Force IP, and DHCP address assignment timeout. This is useful for quickly assigning or updating IP addresses without modifying launch files.

Note: Configuration applied with dhcp or set_ip is written to the device. force_ip is temporary and must be applied again after the device is powered off or restarted. Compatibility: set_device_ip has been replaced by ip_config_tool. The old old_ip argument has been renamed to current_ip.

Example Usage

Show help:

rosrun orbbec_camera ip_config_tool --help

Enable DHCP:

rosrun orbbec_camera ip_config_tool dhcp \
--current_ip 192.168.1.10 \
--enable_dhcp true

Disable DHCP and set a static IP:

rosrun orbbec_camera ip_config_tool set_ip \
--current_ip 192.168.1.10 \
--new_ip 192.168.1.11 \
--mask 255.255.255.0 \
--gateway 192.168.1.1

Force IP by MAC address:

rosrun orbbec_camera ip_config_tool force_ip \
--force_ip_mac 54:14:FD:06:07:DA \
--new_ip 192.168.1.50 \
--mask 255.255.255.0 \
--gateway 192.168.1.1

Set DHCP address assignment timeout:

rosrun orbbec_camera ip_config_tool set_dhcp_timeout \
--current_ip 192.168.1.10 \
--timeout 10

Parameters

  • current_ip - Current IP address of the device.

  • enable_dhcp - Enable or disable DHCP for the dhcp or force_ip subcommand.

  • new_ip - Static IP address to assign.

  • mask - Subnet mask for the new IP.

  • gateway - Gateway address for the new IP.

  • force_ip_mac - Target MAC address for Force IP.

  • timeout / dhcp_assign_ip_timeout - DHCP address assignment timeout in seconds.

Version notes: The LLA switch was supported only by Gemini 335Le firmware 1.7.05 and above and Gemini 435Le firmware 1.3.17 and above.

5.3.13.3. Force IP Function

The Force IP feature allows you to assign a static IP address to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication.

Note: The Force IP configuration will be reset if the device is powered off or restarted. You need to reapply the settings after reboot.

Parameters

  • force_ip_enable - Enable the Force IP function. Default: false

  • force_ip_mac - Target device MAC address when multiple cameras are connected (e.g., "54:14:FD:06:07:DA"). You can use the list_devices_node to find the MAC of each device. Default: ""

  • force_ip_address - Static IP address to assign. Default: 192.168.1.10

  • force_ip_subnet_mask - Subnet mask for the static IP. Default: 255.255.255.0

  • force_ip_gateway - Gateway address for the static IP. Default: 192.168.1.1

Example Usage

  • Enable Force IP for a specific device:

roslaunch orbbec_camera gemini_330_series.launch \
force_ip_enable:=true \
force_ip_mac:=54:14:FD:06:07:DA \
force_ip_address:=192.168.1.50 \
force_ip_subnet_mask:=255.255.255.0 \
force_ip_gateway:=192.168.1.1 \
net_device_ip:=192.168.1.50 \
net_device_port:=8090

Tip: Make sure the camera is connected and its MAC address is correct before enabling Force IP. Use list_devices_node to check the MAC address of all connected cameras.