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5.3.3. Depth work mode switch

Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Femto and Femto Bolt cameras.

  • Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file’s support.

  • The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.

  • The default depth work mode configuration of xxx.launch.py is the camera’s default configuration. If you need to modify it, you can switch to the corresponding mode as needed.

  • The specific camera depth work mode support types can be found in the comments of the depth mode.

# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value='')

  • View depth work modes:

ros2 run orbbec_camera list_depth_work_mode_node

  • Example:

ros2 launch orbbec_camera gemini2L.launch.py depth_work_mode:="Unbinned Dense Default"