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4.2. Available services

Note: Services related to a specific stream (e.g., /camera/set_color_*) are only available if that stream is enabled in the launch file (e.g., enable_color:=true).

4.2.1. Stream Control

4.2.1.1. Color Stream

  • /camera/toggle_color

    ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'

  • /camera/get_color_exposure & /camera/get_color_gain

    ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_color_auto_exposure

    ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'

  • /camera/set_color_exposure & /camera/set_color_gain

    ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

  • /camera/set_color_mirror, /camera/set_color_flip, /camera/set_color_rotation

    ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'

  • /camera/set_color_ae_roi

    # data_param: [Left, Right, Top, Bottom]
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'

4.2.1.2. Depth Stream

  • /camera/toggle_depth

    ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'

  • /camera/get_depth_exposure & /camera/get_depth_gain

    ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_depth_auto_exposure

    ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'

  • /camera/set_depth_exposure & /camera/set_depth_gain

    ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

  • /camera/set_depth_mirror, /camera/set_depth_flip, /camera/set_depth_rotation

    ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'

  • /camera/set_depth_ae_roi

    # data_param: [Left, Right, Top, Bottom]
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'

4.2.1.3. IR Stream

  • /camera/toggle_ir

    ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'

  • /camera/get_ir_exposure & /camera/get_ir_gain

    ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_ir_long_exposure

    ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'

  • /camera/set_ir_auto_exposure

    ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'

  • /camera/set_ir_exposure & /camera/set_ir_gain

    ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

  • /camera/set_ir_mirror, /camera/set_ir_flip, /camera/set_ir_rotation

    ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'

  • /camera/switch_ir

    ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'

4.2.1.4. All Streams

  • /camera/get_streams_enable & /camera/set_streams_enable

    ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'

4.2.2. Runtime Stream Configuration

  • /camera/set_stream_profile

    Switch one or more enabled image stream profiles while the node is running. stream_name accepts color, left_color, right_color, depth, ir, left_ir, and right_ir. Specify only the fields to change; use 0 for unchanged numeric fields and an empty string for an unchanged format. The node stops and restarts the streams during the switch. The service reports failure if the requested profile is already active.

    ros2 service call /camera/set_stream_profile orbbec_camera_msgs/srv/SetStreamProfile "{profiles: [{stream_name: color, width: 1280, height: 720, fps: 30, format: MJPG}]}"

  • /camera/set_image_registration_mode

    Switch depth-color image registration at runtime. Valid values are OFF, HW_D2C, SW_D2C, and SW_C2D, case-insensitive. Both color and depth streams must be enabled for every mode except OFF. The node restarts streams automatically and restores the previous mode if the switch fails.

    ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: HW_D2C}"

4.2.3. Sensor & Emitter Control

  • /camera/set_auto_white_balance & /camera/get_auto_white_balance

    ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_white_balance & /camera/get_white_balance

    ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_laser_enable

    ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'

  • /camera/get_laser_status

    ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'

  • /camera/set_ldp_enable & /camera/get_ldp_status

    ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'

  • /camera/set_ptp_config & /camera/get_ptp_config

    ros2 service call /camera/set_ptp_config std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ptp_config orbbec_camera_msgs/srv/GetBool '{}'

  • /camera/get_lrm_measure_distance

    ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'

  • /camera/set_fan_work_mode

    ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

  • /camera/set_floor_enable

    ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'

4.2.4. Device Information & Management

  • /camera/get_device_info

    ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo

  • /camera/get_device_config Get the currently effective device configuration state, such as preset, alignment mode, time domain, sync mode, and frame aggregate mode.

    ros2 service call /camera/get_device_config orbbec_camera_msgs/srv/GetDeviceConfig '{}'

  • /camera/get_sdk_version

    ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString

  • /camera/export_config_json Export the current device configuration to an SDK JSON file. For the Gemini 330 series JSON import and export workflow, see SDK JSON Import and Export for Gemini 330 Series.

    ros2 service call /camera/export_config_json orbbec_camera_msgs/srv/SetString "{data: '/tmp/orbbec_camera_config.json'}"

  • /camera/set_bag_recording Record current device data with SDK bag recording. enable: true starts recording and enable: false stops recording. When file_path is empty, the default file name is created in the current working directory.

    ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: true, file_path: '/tmp/orbbec_record.bag'}"

    ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: false, file_path: ''}"

  • /camera/reboot_device

    ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'

4.2.5. Synchronization & Triggering

  • /camera/send_software_trigger

    ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'

  • /camera/set_sync_hosttime

    ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'

  • /camera/set_reset_timestamp

    # Only available when time_domain param is set to device
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'

  • /camera/set_sync_interleaverlaser

    # Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

  • /camera/set_sync_io_voltage_level Set the sync IO voltage level. This is only supported on devices that expose the property.

    ros2 service call /camera/set_sync_io_voltage_level orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

4.2.6. Depth Filter Configuration

  • /camera/set_filter For FalsePositiveFilter startup parameters, status checks, and named-parameter tuning examples, see False Positive Filtering for Gemini 330 Series. For EnhancedDepthFilter environment requirements, startup parameters, and status checks, see the ROS2 EnhancedDepthFilter Usage Guide.

    # filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
# filter_param and filter_config cannot be used at the same time.

# Set DecimationFilter: [scale]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'

# Set SpatialAdvancedFilter: [alpha, disp_diff, magnitude, radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'

# Set SequenceIdFilter: [sequence_id]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'

# Set ThresholdFilter: [min, max]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'

# Set NoiseRemovalFilter: [min_diff, max_size]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'

# Set HardwareNoiseRemoval: [threshold]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: [0.2]}'

ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'

# Set SpatialModerateFilter: [disp_diff, magnitude, radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'

# Set FalsePositiveFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: FalsePositiveFilter, filter_enable: true, filter_param: []}'

# Set EnhancedDepthFilter: [confidence_threshold]. The threshold must be an integer from 0 to 255.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EnhancedDepthFilter, filter_enable: true, filter_param: [60]}'

# Set MgcNoiseRemovalFilter / LutNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: MgcNoiseRemovalFilter, filter_enable: true, filter_param: []}'
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: LutNoiseRemovalFilter, filter_enable: true, filter_param: []}'

# Set EdgeNoiseRemovalFilter: []
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: EdgeNoiseRemovalFilter, filter_enable: true, filter_param: []}'

# Tune filters with named parameters
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: EnhancedDepthFilter, filter_enable: true, filter_config: [{name: confidence_threshold, value: '60'}]}"

# Set DispOutliersFilter. search_mode accepts FULL or OFFSET_80, case-insensitive.
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter "{filter_name: DispOutliersFilter, filter_enable: true, filter_config: [{name: search_mode, value: 'FULL'}]}"

    Filter status is updated after service calls on /camera/depth_filter_status and /camera/depth_filters/status. /camera/depth_filters/status uses the structured orbbec_camera_msgs/msg/DepthFiltersStatus message and includes each filter’s enabled state and parameters.

4.2.7. Disparity Configuration

  • /camera/set_disparity_range_mode

    ros2 service call /camera/set_disparity_range_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

  • /camera/set_disparity_search_offset

    ros2 service call /camera/set_disparity_search_offset orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

4.2.8. Data Capture

  • /camera/save_images

    ros2 service call /camera/save_images std_srvs/srv/Empty '{}'

  • /camera/save_point_cloud

    ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'

4.2.8.1. Device-Specific

  • /camera/write_customer_data & /camera/read_customer_data

    ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'

    Supported Modules: Gemini 435Le

  • /camera/set_user_calib_params & /camera/get_user_calib_params

    ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
'{k: [614.9613647460938, 0.0, 634.91552734375,
      0.0, 614.65771484375, 391.407470703125,
      0.0, 0.0, 1.0],
  d: [-0.03131488710641861,
       0.032955970615148544,
       9.096559369936585e-05,
      -0.0003368517500348389,
      -0.01115430984646082,
       0.0, 0.0, 0.0],
  rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
            -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
             0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
  translation: [-0.023897956848144532,
                -9.439220279455185e-05,
                -6.804073229432106e-06]}'
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'

    Supported Modules: Gemini 435Le

  • /camera/set_ae_reference_stream

      # depth or color
  ros2 service call /camera/set_ae_reference_stream orbbec_camera_msgs/srv/SetString "{data: depth}"

    Supported Modules: Gemini 301 series. Compatibility: Replaces the old /camera/set_ae_mode service. The old values depthbased/colorbased map to depth/color.

  • /camera/set_ae_strategy

      # default or motion
  ros2 service call /camera/set_ae_strategy orbbec_camera_msgs/srv/SetString "{data: motion}"

    Supported Modules: Gemini 301 series. Compatibility: Replaces the old /camera/set_sports_mode service.

4.2.9. Point cloud decimation

  • /camera/set_point_cloud_decimation

    ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'

  • /camera/get_point_cloud_decimation

    ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'