This document describes the parameters of launch file for orbbec_camera_node.
We have provided many predefined launch file for different device on orbbec_camera/launch directory. You can use it directly or modify it to fit your device.
Using predefined launch file to launch the orbbec_camera_node:
ros2 launch orbbec_camera gemini2.launch.py
# replace to other predefined launch file or your customized launch file for your device
We have list all supported parameters here, but different device may have different supported parameters. If you want modify the predefined launch file, or create a new launch file for your device, please refer to the predefined launch file and the description doc of you device to ensure what parameters can be used and what value can be set.
For example: the description of Orbbec Gemini 2 device is here: orbbec_camera/launch/gemini2_desc.md.
camera_name
The name of the camera. In fact it is use as the namespace of the node，therefor we can launch multiple node for different device without conflict.
attention: Change this parameter will change the namespace of the node, we should use the right namespace to access the node. More info please refer to ROS namespace.
log_level
Use to set the log level for the Orbbec SDK. Orbbec SDK is the base library of the camera driver and it will output the log to the console and file. The log level can be set to debug, info, warn, error, fatal.
Device parameters is used to set which device to connect. You can try to run libusb command or run ros2 run orbbec_camera list_devices_node to get those info of your device.
vendor_id
The vendor id of the device. For orbbec camera, the vendor id is always 0x02bc5.
product_id
The product id of the device. If you don’t want to use this parameter to control which device to connect, you can set it to’0x0000’ or empty.
serial_number
The serial number of the device. If you don’t want to use this parameter to control which device to connect, you can set it to empty.
usb_port
The usb port of the device. It is the id of your physical usb port, it will not be changed every time you re-plug-in your device. If you don’t want to use this parameter to control which device to connect, you can set it to empty.
The camera parameters is used to control the camera stream. Include the enabled/disabled of the camera, the resolution, fps, format, etc.
Different devices support different camera types and parameters, please choose the appropriate parameters according to your actual situation.
You can run ros2 run orbbec_camera list_camera_profile_mode_node to get the supported camera types and parameters of your device and the support the resolution, fps and format of each camera type.
enable_[color|depth|ir]
Boolean, Enables/disables the color, depth or ir camera.
[color|depth|ir]_width
Integer, The width of the color, depth or ir image，uint: pixel.
[color|depth|ir]_height
Integer, The height of the color, depth or ir image，uint: pixel.
[color|depth|ir]_fps
Integer, The fps of the color, depth or ir image， unit: fps（frame per second）.
[color|depth|ir]_format
String, The format of the color, depth or ir image. eg: Y16, Y8, RGB, MJPG, etc.
[color|depth|ir]_qos
ROS2 Message quality of service of the color, depth or ir image.
[color|depth|ir]_camera_info_qos
ROS2 Message quality of service of the color, depth or ir camera info.
[color|ir]_auto_exposure
Boolean, enables/disables the auto exposure of the color or ir camera. The ir and depth is the same physical sensor, so the auto exposure of ir and depth is the same.
enable_point_cloud
Boolean, enables/disables the the publish of point cloud.
enable_colored_point_cloud
Boolean, enables/disables the colored point cloud. Set enable_point_cloud to true first.
depth_registration
Boolean, enables/disables the hardware alignment the depth frame to color frame. This field is required when the enable_colored_point_cloud is set to true.
point_cloud_qos
ROS2 Message quality of service of the point cloud.
enable_accel
Enables the accelerometer.
accel_rate
The sample rate of the accelerometer, unit: Hz. The specific value depends on the current camera.
accel_range
The measuring range of the accelerometer. The specific value depends on the current camera.
enable_gyro
Enables the gyroscope.
gyro_rate
The sample rate of the gyroscope, unit: Hz. The specific value
gyro_range
The measuring range of the gyroscope. The specific value depends on the current camera.
As the multiple device synchronization is a very difficult feature, please read the product manual to connect multiple devices and ensure the correctness of the parameters.
sync_mode
Device synchronization mode. The optional values are FREE_RUN, STANDALONE, PRIMARY, SECONDARY, SECONDARY_SYNCED, SOFTWARE_TRIGGERING, HARDWARE_TRIGGERING.
depth_delay_us
The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds.
color_delay_us
The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
trigger2image_delay_us
The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
trigger_out_enabled
Enables/disables the trigger signal output.
trigger_out_delay_us
The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
publish_tf
Boolean, enables/disables the publish of transforms.
tf_publish_rate
Double, the rate of the publish of dynamic transforms, unit: Hz. The publish_tf should be set to true first. If tf_publish_rate set to 0, the static transforms will be published.
enable_frame_sync
Boolean, enables/disables the frame synchronization between different type images.
enable_publish_extrinsic
Boolean, enables/disables the publish of extrinsic parameters.
enable_ldp
Boolean, enables/disables the laser protection. After enable this feature, the laser will be turned off when the object is too close to the device.
depth_work_mode
String, the depth work mode of the camera. Run ros2 run orbbec_camera list_depth_work_mode_node to get the supported depth work modes of your device.
enable_soft_filter
Boolean, enables/disables the soft filter of depth image.
soft_filter_max_diff
Integer, parameter of the soft filter. Please keep the default value.
soft_filter_speckle_size
Integer, parameter of the soft filter. Please keep the default value.