# Build the package This section provides a comprehensive guide to installing, compiling, and running the OrbbecSDK_ROS2, covering all necessary steps for setup. - Contents: - [Get source code of OrbbecSDK_ROS2](#get-source-code-of-orbbecsdk-ros2) - [Install Environment](#install-environment) - [Common Configurations](#common-configurations) - [Build project](#build-project) - [Building a Debian Package](#building-a-debian-package)   --- ## Get source code of OrbbecSDK_ROS2 **Get source code from github:** [https://github.com/orbbec/OrbbecSDK_ROS2](https://github.com/orbbec/OrbbecSDK_ROS2) ```bash mkdir -p ~/ros2_ws/src # Create colcon workspace on your local disk cd ~/ros2_ws/src git clone -b v2-main https://github.com/orbbec/OrbbecSDK_ROS2.git #Get source code ``` ## Install Environment **Install ROS 2 environment**, refer to the official documentation: [ROS2 installation guide: https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) ```bash # Tips: If your ROS2 command does not auto-complete, put the following two lines into your `.bashrc` or `.zshrc` eval "$(register-python-argcomplete3 ros2)" eval "$(register-python-argcomplete3 colcon)" ``` **Install deb dependencies:** ```bash # assume you have sourced ROS environment, same blow sudo apt install libgflags-dev nlohmann-json3-dev \ ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \ ros-$ROS_DISTRO-backward-ros libdw-dev ros-$ROS_DISTRO-image-transport \ ros-$ROS_DISTRO-image-transport-plugins ros-$ROS_DISTRO-compressed-image-transport ``` **Install udev rules:** ```bash cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts sudo bash install_udev_rules.sh sudo udevadm control --reload-rules && sudo udevadm trigger ``` **DDS Tuning** The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying performance. In this example, we use CycloneDDS. For more detailed information, please refer to the [ROS DDS Tuning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html)。 ● Edit cyclonedds configuration file ```bash sudo gedit /etc/cyclonedds/config.xml ``` Add ```xml lo false 16MB auto 30 ``` ● Set the environment variables, add to `.zshrc` or `.bashrc` ```bash export ROS_DOMAIN_ID=42 # Numbers from 0 to 232 export ROS_LOCALHOST_ONLY=1 export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml ``` Tip：to understand why the maximum ROS_DOMAIN_ID is 232, please visit [The ROS DOMAIN ID](https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html) ● Increase UDP receive buffer size Edit ```bash /etc/sysctl.d/10-cyclone-max.conf ``` Add ```bash net.core.rmem_max=2147483647 net.core.rmem_default=2147483647 ``` If you use Fast DDS, you can refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file. **Increase usbfs_memory_mb Value** - Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs) by running the following command: ```bash echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb ``` - To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807). - The permanent steps are as follows: Open `/etc/default/grub` file,Find and replace ```bash GRUB_CMDLINE_LINUX_DEFAULT="quiet splash" ``` with this ```bash GRUB_CMDLINE_LINUX_DEFAULT="quiet splash usbcore.usbfs_memory_mb=128" ``` Update grub ```bash $ sudo update-grub ``` Reboot and check ```bash $ cat /sys/module/usbcore/parameters/usbfs_memory_mb ``` ## Common Configurations ### Use V4L2 backend To enable the V4L2 backend for the Gemini2 series cameras, follow these steps: 1. The Gemini2 series cameras support the V4L2 backend. 2. Open the `config/OrbbecSDKConfig_v1.0.xml` file. 3. Set the navigation option to `LinuxUVCBackend`. 4. Change the backend setting to `V4L2`. Note: The V4L2 backend is not enabled by default. ### Predefined presets | Preset | Features | Recommended use cases | | -------------- | ------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------------------------------------------ | | Default | - Best visual perception``- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic `
`- Robotics | | Hand | - Clear hand and finger edges | - Gesture recognition | | High Accuracy | - Depth of high confidence `
`- Barely noise depth values `
`- Lower fill rate | - Collision avoidance `
`- Object scanning | | High Density | - Higher fill rate `
`- More tiny objects `
`- May suffer from noise depth values | - Object recognition `
`- Pick & place `
`- Foreground & background animation | | Medium Density | - Balanced performance in fill rate and accuracy `
`- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default | | Custom | - User defined Preset `
`- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `
`- For well-established custom configurations | Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset` parameter. ### Depth work mode switch OrbbecSDK_ROS2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Femto and Femto Bolt cameras. - Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support. - The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras. - The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed. - The specific camera depth work mode support types can be found in the comments of the depth mode. ```python # Depth work mode support is as follows: # Unbinned Dense Default # Unbinned Sparse Default # Binned Sparse Default # Obstacle Avoidance DeclareLaunchArgument('depth_work_mode', default_value='') ``` - View depth work modes: ```bash ros2 run orbbec_camera list_depth_work_mode_node ``` ### Configuration of depth NFOV and WFOV modes For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of Depth and IR in the launch file. In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of the IR. The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and resolutions is as follows: - NFOV unbinned: 640 x 576. - NFOV binned: 320 x 288. - WFOV unbinned: 1024 x 1024. - WFOV binned: 512 x 512. ### Network device enumeration Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated, eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration methods are as follows: - `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega. if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set the `net_device_ip` and `net_device_port` parameters. - `net_device_ip`: The IP address of the device. - `net_device_port`: The port number of the device. ### Compressed Image You can use image_transport to compress the image using jpeg. Below is an example of how to use it: To access the compressed color image, you can use the following command: ```bash ros2 topic echo /camera/color/image_raw/compressed --no-arr ``` This command will allow you to receive the compressed color image from the specified topic. **Note:** The compressed topic for depth is /camera/depth/image_raw/compressedDepth. The compressed topics for color and IR are /camera/color/image_raw/compressed and /camera/ir/image_raw/compressed, respectively. ## Build project ```bash cd ~/ros2_ws/ # build release, Default is Debug colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release ``` ## Building a Debian Package **Preparing the Environment** Before starting, install the required tools: ```bash sudo apt install debhelper fakeroot python3-bloom ``` **Configuring ROS Dependencies** Add the following YAML file to your system at `/etc/ros/rosdep/sources.list.d/00-orbbec.yaml`. Make sure to replace `focal` with the codename of your Ubuntu version and `humble` with your ROS2 distribution name: ```yaml orbbec_camera_msgs: ubuntu: focal: [ ros-humble-orbbec-camera-msgs ] ``` Next, create a new file `/etc/ros/rosdep/sources.list.d/50-orbbec.list` and add this line to specify the path to the YAML file: ```bash yaml file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml ``` Update the rosdep database to reflect these changes: ```bash rosdep update ``` **Building the Package** Navigate to your workspace and build the project: ```bash cd ~/ros2_ws/ colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release . install/setup.bash cd src/OrbbecSDK_ROS2/ bash .make_deb.sh ```