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4.3. Available Topics

Topics are organized by stream and function. By default, all topics are published under the /camera namespace, which can be changed with the camera_name launch parameter.

Note: Topics for a specific stream (e.g., /camera/color/...) are only published if their corresponding launch parameter (e.g., enable_color) is set to true.

4.3.1. Image Streams

These topics provide the raw image data and corresponding calibration information for each enabled camera stream. The pattern is consistent for color, depth, ir, left_ir, and right_ir streams.

  • /camera/color/image_raw

    • Raw image data from the color stream. Subscribe to this topic for non-MJPG color formats such as RGB or YUYV.

  • /camera/color/image_raw/compressed

    • Compressed image data from the MJPG color stream. When color_format:=MJPG is used, subscribe to this topic to avoid extra decoding in the ROS wrapper and reduce CPU usage.

  • /camera/color/camera_info

    • Camera calibration data and metadata for the color stream.

  • /camera/color/metadata

    • Low-level metadata from the color stream firmware.

  • /camera/depth/image_raw

    • Raw image data from the depth stream.

  • /camera/depth/camera_info

    • Camera calibration data and metadata for the depth stream.

  • /camera/depth/metadata

    • Low-level metadata from the depth stream firmware.

  • /camera/depth/image_unaligned

    • Depth image before software alignment.

    • Condition: Published when depth_registration is true and align_mode is SW; it is not published for hardware alignment.

  • /camera/confidence/image_raw

    • Confidence image generated by EnhancedDepthFilter, encoded as mono8 or mono16 according to the confidence frame format.

    • Condition: Published when enhanced depth filtering succeeds and the topic has a subscriber.

  • /camera/ir/image_raw

    • Raw image data from the infrared (IR) stream.

  • /camera/ir/camera_info

    • Camera calibration data and metadata for the IR stream.

  • /camera/ir/metadata

    • Low-level metadata from the IR stream firmware.

4.3.2. LRM Obstacle Distance

  • /camera/lrm/obstacle_distance

    • Publishes the obstacle distance measured by LRM. The message type is std_msgs/msg/Int32, and the unit is millimeters.

    • Condition: Published only when enable_lrm_obstacle_distance_publish is true. Set the rate with lrm_obstacle_distance_publish_rate; the default is 10.0 Hz.

4.3.3. Point Cloud Topics

  • /camera/depth/points

    • Point cloud data generated from the depth stream.

    • Condition: Published only when enable_point_cloud is true.

  • /camera/depth_registered/points

    • Colored point cloud data, where the depth points are registered to the color image frame.

    • Condition: Published only when enable_colored_point_cloud is true.

4.3.4. IMU Topics

The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope data. Their behavior depends on the synchronization setting.

  • /camera/accel/sample

    • Individual accelerometer data stream.

    • Condition: Published when enable_accel is true AND enable_sync_output_accel_gyro is false.

  • /camera/gyro/sample

    • Individual gyroscope data stream.

    • Condition: Published when enable_gyro is true AND enable_sync_output_accel_gyro is false.

  • /camera/gyro_accel/sample

    • Synchronized data stream containing both accelerometer and gyroscope data in a single message.

    • Condition: Published when enable_sync_output_accel_gyro is true.

  • /camera/accel/imu_info

    • Accelerometer calibration and noise characteristics. The type is orbbec_camera_msgs/msg/IMUInfo.

    • Condition: Available with accelerometer output.

  • /camera/gyro/imu_info

    • Gyroscope calibration and noise characteristics. The type is orbbec_camera_msgs/msg/IMUInfo.

    • Condition: Available with gyroscope output.

4.3.5. Extrinsics Topics

The following topics publish stream-to-stream extrinsics with type orbbec_camera_msgs/msg/Extrinsics:

  • /camera/depth_to_ir

  • /camera/depth_to_color

  • /camera/depth_to_left_ir

  • /camera/depth_to_right_ir

  • /camera/depth_to_accel

  • /camera/depth_to_gyro

  • /camera/left_color_to_right_color

Condition: enable_publish_extrinsic must be true, and both streams represented by the selected topic must be enabled. Only topics supported by the connected device are published.

4.3.6. Device Status & Diagnostics

  • /camera/device_status

    • Reports the current status of the camera device.

  • /camera/depth_filters/status

    • Reports the structured status of the depth sensor’s post-processing filters. The type is orbbec_camera_msgs/msg/DepthFiltersStatus.

    • The message contains DepthFilterState[] filters; each filter state contains filter_name, enabled, and DepthFilterParam[] params.

  • /diagnostics

    • Publishes diagnostic information about the camera node. Currently, this includes the device temperature.