OrbbecSDK V2 ROS2 Wrapper
  • 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
        • 3.1.2.1. Step 1: Source ROS 2 and Workspace
        • 3.1.2.2. Step 2: Launch the Camera Node
        • 3.1.2.3. Step 3: Visualize in RViz2
      • 3.1.3. Sample Features
        • 3.1.3.1. List available topics / services/ parameters
        • 3.1.3.2. Echo a topic
        • 3.1.3.3. Call a service
        • 3.1.3.4. Record with rosbag2
    • 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
        • 4.1.2.1. Color Stream
        • 4.1.2.2. Depth Stream
        • 4.1.2.3. IR Stream
        • 4.1.2.4. Laser / LDP
      • 4.1.3. Device, Sync & Advanced Features
        • 4.1.3.1. Multi-Camera Synchronization
        • 4.1.3.2. Network Cameras
        • 4.1.3.3. Device-Specific
        • 4.1.3.4. Disparity
        • 4.1.3.5. Interleave AE Mode
        • 4.1.3.6. Intra-Camera Synchronization
      • 4.1.4. Basic & General Parameters
        • 4.1.4.1. Firmware & Backend
        • 4.1.4.2. TF, Extrinsics & Calibration
        • 4.1.4.3. Time Synchronization
        • 4.1.4.4. Logging & Diagnostics
        • 4.1.4.5. Miscellaneous
      • 4.1.5. IMU
      • 4.1.6. Depth Filters
    • 4.2. All available services for camera control
      • 4.2.1. Stream Control
        • 4.2.1.1. Color Stream
        • 4.2.1.2. Depth Stream
        • 4.2.1.3. IR Stream
        • 4.2.1.4. All Streams
      • 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
        • 4.4.4.1. View TF Tree Structure
        • 4.4.4.2. Visualize TF Tree in rviz2
      • 4.4.5. Camera TF Calculation and Publishing Mechanism
        • 4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()
        • 4.4.5.2. Function Breakdown
    • 4.5. Compressed Image
    • 4.6. Enabling and Visualizing Point Cloud in ROS 2
      • 4.6.1. Enabling Depth Point Cloud
        • 4.6.1.1. Command to Enable Depth Point Cloud
        • 4.6.1.2. Visualizing Depth Point Cloud in RViz2
      • 4.6.2. Enabling Colored Point Cloud
        • 4.6.2.1. Command to Enable Colored Point Cloud
        • 4.6.2.2. Visualizing Colored Point Cloud in RViz2
  • 5. Advanced Guide
    • 5.1. Performance & Optimization
      • 5.1.1. Reducing CPU Usage with Orbbec ROS Package
        • 5.1.1.1. Recommended Settings for Lower CPU Usage
        • 5.1.1.2. Launch Files Used for Testing
        • 5.1.1.3. Test environment
        • 5.1.1.4. Test Setup
        • 5.1.1.5. Test Results
        • 5.1.1.6. Further Optimizationa
      • 5.1.2. Efficient intra-process communication:
        • 5.1.2.1. Introduction
        • 5.1.2.2. Example
      • 5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2
        • 5.1.3.1. Adjusting System Parameters
        • 5.1.3.2. Fast DDS Configuration
    • 5.2. Multi-Camera
      • 5.2.1. Multi-Camera
        • 5.2.1.1. No Data Stream from Multiple Cameras
        • 5.2.1.2. Image topic frame rate too low from Multiple Cameras
      • 5.2.2. Multi_camera synced Instructions
        • 5.2.2.1. Setup instructions
        • 5.2.2.2. Checking camera port with OrbbecSDK_ROS2
        • 5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration
        • 5.2.2.4. Run the following command to start the multi-camera synced
      • 5.2.3. Multi-Camera Synchronization Verification Node
        • 5.2.3.1. Usage Guide
          • 5.2.3.1.1. Modify multi_camera_synced.launch.py as follows
          • 5.2.3.1.2. Modify configuration files
          • 5.2.3.1.3. Launch and Verification
          • 5.2.3.1.4. Reference Launch File
        • 5.2.3.2. System Configuration Requirements
          • 5.2.3.2.1. Increase USB Buffer Memory
          • 5.2.3.2.2. Configure Fast DDS
      • 5.2.4. GMSL_camera
        • 5.2.4.1. Single GMSL camera
        • 5.2.4.2. Multi GMSL camera
        • 5.2.4.3. Multi GMSL camera synced
        • 5.2.4.4. Usage Limitations of GMSL Cameras
    • 5.3. Configuration & Modes
      • 5.3.1. Aligning Depth to Color in ROS 2
        • 5.3.1.1. Commands to Align and View Depth and Color Images
        • 5.3.1.2. Selecting Topics in RViz2
        • 5.3.1.3. Example of Depth to Color Overlay
      • 5.3.2. Configuration of depth NFOV and WFOV modes
      • 5.3.3. Depth work mode switch
      • 5.3.4. Disparity_search_offset
        • 5.3.4.1. Function Introduction
        • 5.3.4.2. Parameter Introduction
        • 5.3.4.3. Run the launch
      • 5.3.5. Using interleave_ae with Gemini330 series cameras
        • 5.3.5.1. Parameter Introduction
        • 5.3.5.2. Run the launch
        • 5.3.5.3. Multi_camera_synced + Interleave_ae
      • 5.3.6. Predefined presets
      • 5.3.7. Net_camera
        • 5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le
        • 5.3.7.2. set_device_ip Utility
        • 5.3.7.3. Force IP Function
  • 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
        • 6.2.2.1. ROS2 C++
        • 6.2.2.2. ROS2 Python
        • 6.2.2.3. Example YAML configuration
    • 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
        • 6.4.1.1. Tool Configuration (start_benchmark_params.json)
        • 6.4.1.2. Camera configuration (launch files)
        • 6.4.1.3. Running the ob_benchmark tool
        • 6.4.1.4. Output Data Files
  • 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
        • 7.1.2.1. Comprehensive Device Support
        • 7.1.2.2. Transparency and Extensibility
        • 7.1.2.3. Advantages in Maintenance and Updates
        • 7.1.2.4. Community and Ecosystem Support
      • 7.1.3. Comparison Between main and v2-main Branches
        • 7.1.3.1. Launch File Differences
        • 7.1.3.2. Parameter Differences
        • 7.1.3.3. Topic Differences
        • 7.1.3.4. Service Differences
    • 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
    • 8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?
OrbbecSDK V2 ROS2 Wrapper
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© Copyright 2025, ORBBEC INC. www.orbbec.com.. Last updated on 2025-12-15 11:57:22.