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Table of Contents

  • 1. Overview
    • 1.1. Supported cameras
    • 1.2. Supported platforms
  • 2. Installation
    • 2.1. Build the package
      • 2.1.1. Get source code of OrbbecSDK_ROS2
      • 2.1.2. Install environment
      • 2.1.3. Build project
      • 2.1.4. Performance Optimization Suggestions
        • 2.1.4.1. Optimization of usbfs_memory Parameters in USB Camera
        • 2.1.4.2. Optimizing ROS DDS Configuration
    • 2.2. Package description
      • 2.2.1. All available topics
      • 2.2.2. All available services
      • 2.2.3. All available launch files
      • 2.2.4. All available yaml files
      • 2.2.5. Coordinate systems
        • 2.2.5.1. ROS2(Robot) vs Optical(Camera) coordination systems
        • 2.2.5.2. Camera sensor structure
        • 2.2.5.3. TF from coordinate A to coordinate B:
      • 2.2.6. Useful configurations
        • 2.2.6.1. Use V4L2 backend
        • 2.2.6.2. Predefined presets
        • 2.2.6.3. Depth work mode switch
        • 2.2.6.4. Configuration of depth NFOV and WFOV modes
        • 2.2.6.5. Network device enumeration
        • 2.2.6.6. Compressed Image
  • 3. Single camera
    • 3.1. Single camera
      • 3.1.1. Start single camera
      • 3.1.2. Launch parameters
      • 3.1.3. Visualizing data in rviz2
      • 3.1.4. Display view topic/service/param
      • 3.1.5. Example visualizations
      • 3.1.6. Aligning Depth to Color
        • 3.1.6.1. Commands to Align and View Depth and Color Images
        • 3.1.6.2. Selecting Topics in RViz2
        • 3.1.6.3. Example of Depth to Color Overlay
      • 3.1.7. Enabling and Visualizing Point Cloud
        • 3.1.7.1. Enabling Depth Point Cloud
          • 3.1.7.1.1. Command to Enable Depth Point Cloud
          • 3.1.7.1.2. Visualizing Depth Point Cloud in RViz2
          • 3.1.7.1.3. Example Visualization
        • 3.1.7.2. Enabling Colored Point Cloud
          • 3.1.7.2.1. Command to Enable Colored Point Cloud
          • 3.1.7.2.2. Visualizing Colored Point Cloud in RViz2
          • 3.1.7.2.3. Example Visualization
      • 3.1.8. TF tree diagram
  • 4. Multiple cameras
    • 4.1. Multiple cameras
      • 4.1.1. List connected cameras
      • 4.1.2. Setup for multiple camera launch
      • 4.1.3. Running the launch file
      • 4.1.4. Example TF configuration for two cameras
  • 5. Advanced
    • 5.1. Multiple cameras synchronization
      • 5.1.1. Preparation
      • 5.1.2. Check the camera usb port
      • 5.1.3. Configure multiple cameras synced
      • 5.1.4. Run multicamera_synced.launch.py
      • 5.1.5. Advanced sync parameters
      • 5.1.6. GMSL camera example
      • 5.1.7. suggestions for multiple cameras synchronization
    • 5.2. Component node
      • 5.2.1. Creating a component node
      • 5.2.2. Loading a single node into a component container
      • 5.2.3. Loading a launch.py into a component container
    • 5.3. Zero-copy communications
      • 5.3.1. Efficient intra-process communication:
      • 5.3.2. Zero-copy example
      • 5.3.3. Manually loading multiple components into the same process
      • 5.3.4. Using a launch file
      • 5.3.5. Limitations
    • 5.4. GDB debug
      • 5.4.1. Config debug
      • 5.4.2. Use xterm terminal to open gdb debugging
    • 5.5. Backward ros
      • 5.5.1. Add backward_ros as a dependency:
      • 5.5.2. Configure CMakeLists.txt:
      • 5.5.3. Build your project with debug information:
      • 5.5.4. Run your node:
      • 5.5.5. Example backward_ros
    • 5.6. CycloneDDS tuning
    • 5.7. FastDDS tuning
      • 5.7.1. Adjusting system parameters
        • 5.7.1.1. IP fragmentation time
        • 5.7.1.2. IP fragmentation memory threshold
        • 5.7.1.3. Maximum buffer sizes
      • 5.7.2. 2. FastDDS configuration
        • 5.7.2.1. Configuration file: shm_fastdds.xml
        • 5.7.2.2. Environment variables
  • 6. Tools
    • 6.1. Some practical tools
      • 6.1.1. list_devices_node
      • 6.1.2. list_depth_work_mode_node
      • 6.1.3. list_camera_profile_mode_node
      • 6.1.4. multi_save_rgbir_node
      • 6.1.5. metadata_save_files_node
      • 6.1.6. metadata_export_files_node
  • 7. Help center
    • 7.1. FAQ
      • 7.1.1. Unexpected crash
      • 7.1.2. How to Quickly Modify the Default Resolution
      • 7.1.3. No data stream from multiple cameras
      • 7.1.4. Additional troubleshooting
      • 7.1.5. Why are there so many yaml files?
    • 7.2. Issue
  • 8. License
    • 8.1. OrbbecSDK_ROS2 license
OrbbecSDK ROS2
  • 3. Single camera
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../../_images/product_h5.png

3. Single camera

This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.

This Section Covers:

  • 3.1. Single camera
    • 3.1.1. Start single camera
    • 3.1.2. Launch parameters
    • 3.1.3. Visualizing data in rviz2
    • 3.1.4. Display view topic/service/param
    • 3.1.5. Example visualizations
    • 3.1.6. Aligning Depth to Color
    • 3.1.7. Enabling and Visualizing Point Cloud
    • 3.1.8. TF tree diagram
../../_images/product_h1.png
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© Copyright 2023, ORBBEC INC. www.orbbec.com.cn. Last updated on 2024-12-24 21:41:11.