OrbbecSDK V2 ROS2 Wrapper
Camera Devices
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. Environment configuration
2.2. Linux Binary Package Installation
2.3. Build from Source
2.4. Registration Script (Required)
2.4.1. Binary Installation
2.4.2. 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. Available services
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
4.2.6.1. Device-Specific
4.2.7. Point cloud decimation
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
5.2.3.2. System Configuration Requirements
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
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. Device default
5.3.6.1. Gemini 330 / Gemini 330L / Gemini 335 / Gemini 335L
5.3.6.2. Gemini 336 / Gemini 336L
5.3.6.3. Gemini 2
5.3.6.4. Gemini 2L
5.3.6.5. Gemini 305
5.3.6.6. Extended 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. Other Tools
6.3.1. Ob_benchmark tool
6.3.1.1. Tool Configuration (start_benchmark_params.json)
6.3.1.2. Camera configuration (launch files)
6.3.1.3. Running the ob_benchmark tool
6.3.1.4. 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. How to Collect and Save Logs
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?
8.7. femto bolt depth stream no data
8.8. The image does not reach the preset frame rate
8.9. Issues related to soft trigger mode
Lidar Devices
1. Installation
1.1. Prerequisites
1.2. Install deb Dependencies
1.3. Install udev Rules
1.4. Build the Package
1.5. Launch the LiDAR Node
2. Usage
2.1. Running the Driver
2.2. Get Device Information for Connected LiDARs
2.3. Check Which Configurations the LiDAR Supports
2.4. Parameters and Configuration
3. Point Cloud Data Details
3.1. Point Cloud Format
3.2. Point Cloud Aggregation Functionality
3.2.1. Features:
3.2.2. Usage Examples:
4. IMU Data
4.1. IMU Topics
4.2. Using IMU Data
OrbbecSDK V2 ROS2 Wrapper
Camera Devices
6.
Benchmark
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6.
Benchmark
This chapter introduces how to use the benchmark tool to test the performance of different cameras.
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. Other Tools
6.3.1. Ob_benchmark tool