This document describes the services of orbbec_camera_node. Before using those services, please make sure
the orbbec_camera_node is running.
We have list all the services of orbbec_camera_node here. But different devices may have different services supported.
Please refer to the description of the device you are using, witch can be found in the orbbec_camera/launch directory.
For example: the description of Orbbec Gemini 2 device is here: orbbec_camera/launch/gemini2_desc.md.
The name of the following service already expresses its function. However, it should be noted that the
corresponding set_[ir|depth|color]_xxx and get_[ir|depth|color]_xxx **services are only available if you set
** enable[ir|depth|color] to true in the stream that corresponds to the argument of the launch file.
| service | description | srv |
|---|---|---|
| /camera/get_sdk_version | get the version of Orbbec SDK | orbbec_camera_msgs/srv/GetString |
| /camera/get_device_info | get device info(pid, serial number, firmware version, etc.) | orbbec_camera_msgs/srv/GetDeviceInfo |
| /camera/get_auto_white_balance | get the auto white balance status of the color camera | std_srvs/srv/GetBool |
| /camera/set_auto_white_balance | set the auto white balance status of the color camera | std_srvs/srv/SetBool |
| /camera/get_white_balance | get the white balance value of the color camera | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_white_balance | set the white balance value of the color camera | orbbec_camera_msgs/srv/SetInt32 |
| /camera/set_color_auto_exposure | set the auto exposure status of the color camera | std_srvs/srv/SetBool |
| /camera/get_color_exposure | get the exposure value of the color camera, unit: 100us | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_color_exposure | set the exposure value of the color camera, unit: 100us; set the auto exposure status of the color camera to false first | orbbec_camera_msgs/srv/SetInt32 |
| /camera/get_color_gain | get the color gain value of the color camera | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_color_gain | set the color gain value of the color camera | orbbec_camera_msgs/srv/SetInt32 |
| /camera/set_depth_auto_exposure | set the auto exposure status of the depth camera | std_srvs/srv/SetBool |
| /camera/get_depth_exposure | get the exposure value of the depth camera, unit: 100us | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_depth_exposure | set the exposure value of the depth camera, unit: 100us; set the auto exposure status of the depth camera to false first | orbbec_camera_msgs/srv/SetInt32 |
| /camera/get_depth_gain | get the depth gain value of the depth camera | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_depth_gain | set the gain value of the depth camera | orbbec_camera_msgs/srv/SetInt32 |
| /camera/set_ir_auto_exposure | set the auto exposure status of the infrared camera | std_srvs/srv/SetBool |
| /camera/get_ir_exposure | get the exposure value of the infrared camera, unit: 100us | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_ir_exposure | set the exposure value of the infrared camera, unit: 100us; set the auto exposure status of the depth camera to false first | orbbec_camera_msgs/srv/SetInt32 |
| /camera/get_ir_gain | get the gain value of the infrared camera | orbbec_camera_msgs/srv/GetInt32 |
| /camera/set_ir_gain | set the gain value of the infrared camera | orbbec_camera_msgs/srv/SetInt32 |
| /camera/set_fan_work_mode | set the fan work mode | orbbec_camera_msgs/srv/SetInt32 |
| /camera/set_laser_enable | set the laser to on(true) or off(false) | std_srvs/srv/SetBool |
| /camera/set_floor_enable | set the floor lamp to on(true) or off(false) | std_srvs/srv/SetBool |
| /camera/set_ldp_enable | set the ldp to enable(true) or disable(false) | std_srvs/srv/SetBool |
| /camera/get_ldp_status | Get the trigger state of the laser protection. When the state is true, the protection function is turned on, and the laser will be forced to turn off | std_srvs/srv/GetBool |
| /camera/toggle_color | enable/disable the color camera | std_srvs/srv/SetBool |
| /camera/toggle_depth | enable/disable the depth camera | std_srvs/srv/SetBool |
| /camera/toggle_ir | enable/disable the infrared camera | std_srvs/srv/SetBool |
For comprehensive guidance on the service, please refer to the official ROS2 Services Wiki.
Command:
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/GetString "{}"
Response:
orbbec_camera_msgs.srv.GetString_Response(data='{\n "firmware_version": "1.4.45",\n "ob_sdk_version": "1.9.1",\n "ros_sdk_version": "1.4.3",\n "supported_min_sdk_version": "1.0.1"\n}', success=True, message='')
Command:
ros2 service call /camera/get_device_info orbbec_camera_msgs/GetDeviceInfo "{}"
Response:
orbbec_camera_msgs.srv.GetDeviceInfo_Response(info=orbbec_camera_msgs.msg.DeviceInfo(...), success=True, message='')
Command:
ros2 service call /camera/set_auto_white_balance std_srvs/SetBool "{data: true}"
Response:
std_srvs.srv.SetBool_Response(success=True, message='')
Command:
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 "{}"
Response:
orbbec_camera_msgs.srv.GetInt32_Response(data=1, success=True, message='')
Command:
ros2 service call /camera/set_white_balance orbbec_camera_msgs/SetInt32 "{data: 500}"
Response:
orbbec_camera_msgs.srv.SetInt32_Response(success=True, message='')
Command:
ros2 service call /camera/get_white_balance orbbec_camera_msgs/GetInt32 "{}"
Response:
orbbec_camera_msgs.srv.GetInt32_Response(data=500, success=True, message='')