OrbbecSDK V2 ROS Wrapper
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Camera Devices
1. Overview
1.1. Introduction
1.1.1. Support Hardware Products
1.1.2. URDF Model Support
1.1.3. Orbbec camera datasheet
1.1.4. 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. Build from Source
2.1.1. Environment
2.1.2. Create ROS Workspace and Build
2.2. Registration script (required)
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 1 and Workspace
3.1.2.2. Step 2: Launch the Camera Node
3.1.2.3. Step 3: Visualize in RViz
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 rosbag
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. How to modify launch parameters
4.1.1.1. Core & Stream Configuration
4.1.1.2. Sensor Controls
4.1.1.3. Device, Sync & Advanced Features
4.1.1.4. Basic & General Parameters
4.1.1.5. IMU
4.1.1.6. Depth Filters
4.2. Available services
4.2.1. Color Stream
4.2.2. Depth Stream
4.2.3. IR Stream
4.2.4. Sensor & Emitter Control
4.2.5. Device Information & Management
4.2.6. Synchronization
4.2.7. Disparity Configuration
4.2.8. AE Configuration
4.2.9. Depth Filter Configuration
4.2.10. Data Capture & Calibration Management
4.3. Available Topics
4.3.1. Image Streams
4.3.2. Point Cloud Topics
4.3.3. Device Status & Diagnostics
4.4. Runtime Modifiable Parameters
4.5. Coordinate Systems and TF Transforms
4.5.1. Camera sensor structure
4.5.2. ROS Robot Coordinate System vs Camera Optical Coordinate System
4.5.3. Using ROS1 TF Tools
4.5.3.1. View TF Tree Structure
4.5.3.2. Visualize the TF Tree in rviz
4.5.4. ROS1 Camera TF Calculation and Publication Mechanism
4.5.4.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()
4.5.4.2. Function Explanation
4.6. Enabling and Visualizing Point Cloud in ROS 1
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 RViz
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 RViz
4.7. Compressed Image
4.7.1. Publishing Behavior
4.7.2. Common Compressed Image Topics
4.7.3.
color_format:=MJPG
Scenario
4.7.4. Troubleshooting
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. Color Stream Format and Subscription
5.1.1.3. Launch File Used for Testing
5.1.1.4. Test environment
5.1.1.5. Test Setup
5.1.1.6. Test Results
5.1.1.7. uvc_backend Comparison (RGB format)
5.1.1.8. color_format Comparison (MJPG vs RGB)
5.1.1.9. Filter Configuration Impact
5.2. Multi-Camera
5.2.1. Using Multiple Cameras with the Orbbec ROS Package
5.2.1.1. Prerequisites
5.2.1.2. Increase usbfs_memory_mb Value (CRITICAL STEP)
5.2.1.3. Identifying Camera USB Ports
5.2.1.4. Launching Multiple Cameras
5.2.1.5. Configuring the TF Tree for Multiple Cameras
5.2.2. Multi_camera synced Instructions
5.2.2.1. Setup instructions
5.2.2.2. Checking camera port with OrbbecSDK_ROS1
5.2.2.3. OrbbecSDK_ROS1 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. Configuring Multiple Cameras with Orbbec ROS Package (Nodelet)
5.2.4.1. Configuring the Nodelet Manager
5.2.4.2. Configuring Camera Nodelets
5.2.4.3. Configuring Camera Parameters
5.2.5. 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 RViz
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. IP Configuration Tool
5.3.7.3. Force IP Function
6. Tools
6.1. Tool Index
6.1.1. Tool Overview
6.2. Device Query and Basic Maintenance Tools
6.2.1. list_devices_node
6.2.2. list_depth_work_mode_node
6.2.3. list_camera_profile_mode_node
6.2.4. list_ob_devices.sh
6.2.5. install_udev_rules.sh
6.3. Network Configuration Tools
6.3.1. ip_config_tool
6.3.2. Parameters
6.4. firmware_update_tool Device Maintenance Tool
6.5. Performance Benchmark Tools
6.5.1. common_benchmark_node.py
6.5.2. service_benchmark_node.py
6.5.3. service_benchmark_node
6.5.4. Benchmark Recommendations
6.6. Diagnostic and Latency Analysis Tools
6.6.1. Diagnostic Tool: Frame Drop Log and Timestamp CSV Recording
6.6.1.1. Timestamp CSV Field Description
6.6.1.2. Timestamp CSV Analysis Methods
6.6.2. monitor_fd.sh
6.7. Multi-Camera Helper Tools
6.7.1. image_sync_example_node
6.7.2. group_images.sh
6.8. Debug Helper Scripts
6.8.1. open_stream.sh
6.8.2. save_image.sh
6.8.3. set_laser.py
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
8. Frequently Asked Questions
8.1. No Data Stream from Multiple Cameras
8.2. Compilation Failure Due to OpenCV Version Issues
8.3. How to Collect and Save Logs
8.3.1. SDK Logs
8.3.2. ROS 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. The image does not reach the preset frame rate
8.8. Issues related to soft trigger mode
Lidar Devices
1. Installation
1.1. Prerequisites
1.2. Install 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. 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 ROS Wrapper
Index
Index