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OrbbecSDK V2 ROS2 Wrapper documentation

• 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. Binary Installation
    • 2.1.1. Environment
    • 2.1.2. Linux Binary Package Installation
  • 2.2. Build from Source
    • 2.2.1. Linux ROS2 Wrapper Compilation
  • 2.3. Registration Script (Required)
    • 2.3.1. Binary Installation
    • 2.3.2. Build from Source
• 3. Quickstarts
  • 3.1. ROS Package QuickStarts
    • 3.1.1. Introduction
    • 3.1.2. Build your First Camera Application
    • 3.1.3. Sample Features
  • 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
    • 4.1.3. Device, Sync & Advanced Features
    • 4.1.4. Basic & General Parameters
    • 4.1.5. IMU
    • 4.1.6. Depth Filters
  • 4.2. All available services for camera control
    • 4.2.1. Stream Control
    • 4.2.2. Sensor & Emitter Control
    • 4.2.3. Device Information & Management
    • 4.2.4. Synchronization & Triggering
    • 4.2.5. Depth Filter Configuration
    • 4.2.6. Data Capture & Calibration Management
  • 4.3. Available Topics
    • 4.3.1. Image Streams
    • 4.3.2. Point Cloud Topics
    • 4.3.3. IMU Topics
    • 4.3.4. Device Status & Diagnostics
  • 4.4. Coordinate Systems and TF Transforms
    • 4.4.1. Camera sensor structure
    • 4.4.2. TF from coordinate A to coordinate B:
    • 4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System
    • 4.4.4. Using ROS2 TF Tools
    • 4.4.5. Camera TF Calculation and Publishing Mechanism
  • 4.5. Compressed Image
  • 4.6. Enabling and Visualizing Point Cloud in ROS 2
    • 4.6.1. Enabling Depth Point Cloud
    • 4.6.2. Enabling Colored Point Cloud
• 5. Advanced Guide
  • 5.1. Performance & Optimization
    • 5.1.1. Reducing CPU Usage with Orbbec ROS Package
    • 5.1.2. Efficient intra-process communication:
    • 5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2
  • 5.2. Multi-Camera
    • 5.2.1. Multi-Camera
    • 5.2.2. Multi_camera synced Instructions
    • 5.2.3. Multi-Camera Synchronization Verification Node
    • 5.2.4. GMSL_camera
  • 5.3. Configuration & Modes
    • 5.3.1. Aligning Depth to Color in ROS 2
    • 5.3.2. Configuration of depth NFOV and WFOV modes
    • 5.3.3. Depth work mode switch
    • 5.3.4. Disparity_search_offset
    • 5.3.5. Using interleave_ae with Gemini330 series cameras
    • 5.3.6. Predefined presets
    • 5.3.7. Net_camera
• 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
  • 6.3. Benchmark Data
    • 6.3.1. Common Benckmark Data
    • 6.3.2. Service Benchmark Data
  • 6.4. Other Tools
    • 6.4.1. Ob_benchmark tool
• 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
    • 7.1.3. Comparison Between main and v2-main Branches
  • 7.2. Building a Debian Package
    • 7.2.1. Preparing the Environment
    • 7.2.2. Configuring ROS Dependencies
    • 7.2.3. Building the Package
• 8. Frequently Asked Questions
  • 8.1. Unexpected Crash
  • 8.2. No Data Stream from Multiple Cameras
  • 8.3. Additional Troubleshooting
  • 8.4. Why Are There So Many Launch Files?
  • 8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected