OrbbecSDK_ROS2

Device Description Of Orbbec Gemini 2 L

Device-specific parameters of launch file for Orbbec Gemini 2 L

Here, We exclusively list the parameters that are specific to the device and supported by the Orbbec Gemini 2 L.Please read docs/launch_file_parameters.md at first to understand the basic parameters.

• product_id The product ID of Orbbec Gemini 2 L is 0x0673

• color_widthxcolor_height The resolution of color camera, supported value:

  • 1280 x 800
  • 1280 x 720
  • 800 x 600
  • 640 x 400, default
  • 640 x 360
• color_fps The frame rate of color camera, supported value:
  • 5
  • 10
  • 15, default
  • 30
  • 60, only for 640 x 480 and 320 x 240 resolution in ‘Binned Sparse Default’ Mode
• color_format supported color formats:
  • MJPG, default
  • YUYV
• enable_color_auto_exposure Enables/disables auto exposure of color camera, supported value:
  • true, default
  • false
• depth_widthxdepth_height The resolution of depth camera, supported value:
  • 1280 x 800
  • 640 x 400, default
  • 320 x 200
• depth_fps The frame rate of depth camera, supported value:
  • 5
  • 10
  • 15, default
  • 30
  • 60, only for 640 x 480 and 320 x 240 resolution in ‘Binned Sparse Default’ Mode
• depth_format supported depth formats:
  • Y14, default
  • RLE
• enable_depth_auto_exposure Enables/disables auto exposure of depth camera, supported value:
  • true, default
  • false
• ir_widthxir_height The resolution of infrared camera, supported profile:
  • 1280 x 800
  • 640 x 400, default
  • 320 x 200
• ir_fps The frame rate of infrared camera, supported profile:
  • 5
  • 10
  • 15, default
  • 30
  • 60, only for 640 x 480 and 320 x 240 resolution in ‘Binned Sparse Default’ Mode
• ir_format supported infrared formats:
  • Y8, default
  • MJPG
• enable_ir_auto_exposure Enables/disables auto exposure of infrared camera, supported value:
  • true, default
  • false
• accel_rate The sample rate of accelerometer in Hz, the value must be same as gyro_rate, supported value:
  • 100, default
  • 200
  • 500
  • 1000
• accel_range The measuring range of accelerometer, supported value:
  • 4g, default
• gyro_rate The sample rate of gyroscope, the value must be same as accel_rate, supported value:
  • 100, default
  • 200
  • 500
  • 1000
• gyro_range The range of gyroscope, supported value:
  • 1000dps, default
• sync_mode The synchronization mode of the device, supported value:
  • free_run
  • standalone, default
  • primary
  • secondary-synced
  • software triggering
  • hardware triggering

• depth_delay_us The delay time of depth frame，must set it to 0.

• color_delay_us The delay time of color frame，must set it to 0.

• ir_delay_us The delay time of infrared frame，must set it to 0.

• trigger2image_delay_us The delay time of trigger to image frame，must set it to 0.

• trigger_out_enabled Enables/disables trigger signal output, supported value:
  • true
  • false, default

• trigger_out_delay_us Trigger signal output delay time, must set it to 0.

• enable_frame_sync Enables/disables frame synchronization, supported value:
  • true , default
  • false
• enable_soft_filter Enables/disables the soft filter of depth image, supported value:
  • true
  • false, default

• soft_filter_max_diff Integer, parameter of the soft filter. Please keep the default value: -1.

• soft_filter_speckle_size Integer, parameter of the soft filter. Please keep the default value: -1.

• depth_work_mode The depth work mode, supported value:
  • “Unbinned Dense Default”
  • “Unbinned Sparse Default”
  • “Binned Sparse Default”
  • “Obstacle Avoidance”, default

Device-specific service for Orbbec Gemini 2 L

Here, We exclusively list the parameters that are specific to the device and supported by the Orbbec Gemini 2 L.Please read docs/services_description.md at first to understand the basic services.

Shortly usage:

# ros2 service call <service_name> <service_type> <arguments>

# sdk version:
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/GetString "{}"

# orbbec_camera_msgs/GetDeviceInfo:
ros2 service call /camera/get_device_info orbbec_camera_msgs/GetDeviceInfo "{}"

# for std_srvs/SetBool & std_srvs/GetBool:
ros2 service call /camera/set_auto_white_balance std_srvs/SetBool "{data: true}"
ros2 service call /camera/get_auto_white_balance std_srvs/GetBool "{}"

# for orbbec_camera_msgs/SetInt32 & orbbec_camera_msgs/GetInt32:
ros2 service call /camera/set_white_balance orbbec_camera_msgs/SetInt32 "{data: 500}"
ros2 service call /camera/get_white_balance orbbec_camera_msgs/GetInt32 "{}"

• /camera/get_auto_white_balance and /camera/set_auto_white_balance The service to get and set the auto white balance of color camera.
  • service type: std_srvs/srv/GetBool and std_srvs/srv/SetBool
  • default value: true
• /camera/get_white_balance and /camera/set_white_balance The service to get and set the white balance of color camera.
  • service_type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 2800
  • maximum value: 6800
  • default value:
  • step: 10
• /camera/set_color_auto_exposure The service to set the auto exposure of color camera.
  • service type: std_srvs/srv/SetBool
  • default value: true
• /camera/get_color_exposure and /camera/set_color_exposure The service to get and set the exposure of color camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 0
  • maximum value: 30000
  • default value:
  • step: 1
• /camera/set_color_gain and /camera/get_color_gain The service to get and set the gain of color camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 1
  • maximum value: 255
  • default value:
  • step: 1
• /camera/set_depth_auto_exposure The service to set the auto exposure of depth camera.
  • service type: std_srvs/srv/SetBool
  • default value: true
• /camera/get_depth_exposure and /camera/set_depth_exposure The service to get and set the exposure of depth camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 200
  • maximum value: 5000
  • default value:
  • step: 1
• /camera/set_depth_gain and /camera/get_depth_gain The service to get and set the gain of depth camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 1000
  • maximum value: 15000
  • default value:
  • step: 100
• /camera/set_ir_auto_exposure The service to set the auto exposure of infrared camera.
  • service type: std_srvs/srv/SetBool
  • default value: true
• /camera/get_ir_exposure and /camera/set_ir_exposure The service to get and set the exposure of infrared camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 200
  • maximum value: 5000
  • default value:
  • step: 1
• /camera/set_ir_gain and /camera/get_ir_gain The service to get and set the gain of infrared camera.
  • service type: orbbec_camera_msgs/srv/SetInt32 and orbbec_camera_msgs/srv/GetInt32
  • minium value: 1000
  • maximum value: 15000
  • default value:
  • step: 100
• /camera/set_fan_work_mode The service to set the fan work mode.
  • service type: orbbec_camera_msgs/srv/SetInt32
  • minium value: 0
  • maximum value: 1
  • default value: 0
  • step: 1
• /camera/set_laser_enable The service to turn on/off the laser, it will be turn on automatically when the depth/ir camera is enabled.
  • service type: std_srvs/srv/SetBool
  • default value: false
• /camera/set_floor_enable The service to turn on/off the floor lamp.
  • service type: std_srvs/srv/SetBool
  • default value: false
• /camera/set_ldp_enable The service to turn on/off the LDP. After enabling the LDP, this laser will be turned off when the object is to close to the camera.
  • service type: std_srvs/srv/SetBool
  • default value: true
• /camera/get_ldp_status The service to get the LDP trigger status. After enabling the LDP, this feature will be triggered when the object is to close to the camera.
  • service type: `std_srvs/srv/GetBool
  • default value: false

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