3.1. ROS Package QuickStarts

3.1.1. Introduction

This section provides a quick start to using the Orbbec ROS 2 wrapper. You will learn how to:

Launch a camera node.
Visualize depth/color streams in RViz2.
Interact with topics and services using ROS 2 CLI tools.

3.1.2. Build your First Camera Application

3.1.2.1. Step 1: Source ROS 2 and Workspace

Make sure ROS 2 and your workspace environment are sourced:

source /opt/ros/$ROS_DISTRO/setup.bash

Source code build requirements

source ~/ros2_ws/install/setup.bash

3.1.2.2. Step 2: Launch the Camera Node

On terminal 1

. ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table

If you have multiple cameras connected, you can specify the serial number:

ros2 launch orbbec_camera gemini_330_series.launch.py serial_number:=<YourCameraSN>

3.1.2.3. Step 3: Visualize in RViz2

Launch RViz2 and load the default config:

On terminal 2

rviz2

Add an Image display, set topic to /camera/color/image_raw.
Add another Image display for /camera/depth/image_raw.
Optionally, add a PointCloud2 display for /camera/depth/points.

You should now see the color stream, depth stream, and 3D point cloud in RViz2.

3.1.3. Sample Features

After the node is running, try some ROS 2 CLI commands:

3.1.3.1. List available topics / services/ parameters

ros2 topic list
ros2 service list
ros2 param list

3.1.3.2. Echo a topic

View depth camera data:

ros2 topic echo /camera/depth/camera_info

3.1.3.3. Call a service

For example, get device Information:

ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'

3.1.3.4. Record with rosbag2

ros2 bag record /camera/color/image_raw /camera/depth/image_raw