Version
6.1. Tool Index
This page is an index of common OrbbecSDK_ROS2 tools. It only lists each tool’s purpose and the page that contains the full usage notes. Before running ros2 run commands, source ROS 2 and the workspace:
source /opt/ros/$ROS_DISTRO/setup.bash
source install/setup.bash
6.1.1. Tool Overview
| Tool | Scenario / Full Guide | Summary |
|---|---|---|
list_devices_node (Recommended) |
Device query and basic maintenance | Enumerates Orbbec devices and prints device, firmware, preset, and IP status. |
list_depth_work_mode_node |
Device query and basic maintenance | Lists the depth work modes supported by the current device. |
list_camera_profile_mode_node (Recommended) |
Device query and basic maintenance | Lists supported stream profiles, depth work modes, and presets. |
list_ob_devices.sh |
Device query and basic maintenance | Scans Orbbec USB devices from Linux USB sysfs. |
install_udev_rules.sh |
Device query and basic maintenance | Installs USB device udev rules. |
firmware_update_tool (Recommended) |
Device maintenance | Updates device firmware or burns preset files. |
ip_config_tool (Recommended) |
Network configuration | Configures DHCP, persistent IP, and Force IP for network cameras. |
common_benchmark_node.py (Recommended) |
Performance benchmark | Collects FPS, latency, CPU, memory, and frame drop statistics. |
service_benchmark_node.py |
Performance benchmark | Measures service call latency and success rate. |
ob_benchmark_node |
Performance benchmark | Runs benchmark configurations periodically and records CPU/memory data. |
start_benchmark_node |
Performance benchmark | Multi-topic subscriber used by the benchmark workflow. |
enable_frame_drop_log / frame_timestamp_csv_file (Recommended) |
Performance diagnostics | Built-in camera node frame drop logging and timestamp CSV recording. |
topic_statistics_node |
Performance diagnostics | Collects image topic age and period statistics. |
frame_latency_node |
Performance diagnostics | Measures latency and FPS for a specified topic. |
monitor_fd.sh |
Performance diagnostics | Monitors the file descriptor count of component_container. |
plot_stat.py |
Performance diagnostics | Plots topic statistics curves from statistics.csv. |
receive_pc.py |
Debug helper | Verifies whether a Python node can receive the point cloud topic. |
multi_save_rgbir_node (Recommended) |
Multi-camera | Saves RGB/IR images from multiple cameras. |
image_sync_example_node (Recommended) |
Multi-camera | Displays synchronized images and reports multi-topic timestamp statistics. |
SyncFramesMain.py |
Multi-camera | Offline analysis script for multi-camera synchronization verification. |
group_image.py |
Multi-camera | Groups saved multi-camera images by timestamp. |
static_transforms_publisher.py |
Multi-camera debugging | Publishes hard-coded static TFs for multi-camera debugging. |