OrbbecSDK ROS2
Application Document
1. Overview
1.1. Typical applications
1.2. Supported cameras
1.3. 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. Common Configurations
2.1.3.1. Use V4L2 backend
2.1.3.2. Predefined presets
2.1.3.3. Depth work mode switch
2.1.3.4. Configuration of depth NFOV and WFOV modes
2.1.3.5. Network device enumeration
2.1.3.6. Compressed Image
2.1.4. Build project
2.1.5. Building a Debian Package
2.2. Package description
2.2.1. All available topics
2.2.2. All available services
2.2.3. Launch
2.2.4. 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:
3. Start single camera
3.1. Start single camera
3.2. Visualizing Data in RViz2
3.3. Display view topics service
3.4. Example Visualizations
3.5. TF tree diagram
4. Start multiple cameras
4.1. Identifying Camera USB Ports
4.2. List Connected Cameras
4.3. Launching Multiple Cameras
4.4. Setup for Multiple Camera Launch
4.5. Running the Launch File
4.6. Configuring the TF Tree for Multiple Cameras
4.7. Example TF Configuration for Two Cameras
5. Robot Intergrations
5.1. Robot integrations
5.1.1. Example 1
5.1.2. Example2
6. Advanced
6.1. Multi camera sync
6.1.1. Preparation
6.1.2. Check the camera usb port
6.1.3. Configure multi_camera_synced.launch.py
6.1.4. Run multi_camera_synced.launch.py
6.1.5. Advanced Parameters
6.1.6. Gmsl example
6.2. Component node
6.2.1. Creating a Component Node
6.2.2. Loading a Single Node into a Component Container
6.2.3. Loading a launch.py into a Component Container
6.3. Zero-copy communications
6.3.1. Efficient intra-process communication:
6.3.2. Example
6.3.3. Manually loading multiple components into the same process
6.3.4. Using a launch file
6.3.5. Limitations
6.4. GDB debug
6.4.1. Compile the program with debug information:
6.4.2. Start the node with GDB:
6.4.3. Configure GDB in a launch file:
6.4.4. Use GDB for debugging:
6.4.5. Set up Linux to produce core files:
6.4.6. Use VS Code for debugging:
6.4.7. Use the backward_ros package:
6.4.8. Use xterm terminal to open gdb debugging
6.5. Backward ros
6.5.1. Add
backward_ros
as a dependency:
6.5.2. Configure
CMakeLists.txt
:
6.5.3. Build your project with debug information:
6.5.4. Run your node:
6.5.5. Example
6.6. Benchmark
6.6.1. Launch Orbbec Camera Node
6.6.2. Use Benchmark Tools
6.6.3. Configure and Run Benchmark
6.6.4. Analyze Results
6.7. Fast DDS Tuning
6.7.1. Adjusting System Parameters
6.7.1.1. IP Fragmentation Time
6.7.1.2. IP Fragmentation Memory Threshold
6.7.1.3. Maximum Buffer Sizes
6.7.2. 2. Fast DDS Configuration
6.7.2.1. Configuration File:
shm_fastdds.xml
6.7.2.2. Environment Variables
7. Tools
7.1. Some practical tools
7.1.1. list_devices_node
7.1.2. list_depth_work_mode_node
7.1.3. list_camera_profile_mode_node
7.1.4. multi_save_rgbir_node
7.1.5. metadata_save_files_node
7.1.6. metadata_export_files_node
8. Help Center
8.1. FAQ
8.1.1. Unexpected Crash
8.1.2. No Data Stream from Multiple Cameras
8.1.3. Additional Troubleshooting
8.1.4. Why Are There So Many Launch Files?
8.2. Issue
9. License
OrbbecSDK ROS2
OrbbecSDK ROS2
View page source
OrbbecSDK ROS2
Application Document
1. Overview
1.1. Typical applications
1.2. Supported cameras
1.3. Supported platforms
2. Installation
2.1. Build the package
2.2. Package description
3. Start single camera
3.1. Start single camera
3.2. Visualizing Data in RViz2
3.3. Display view topics service
3.4. Example Visualizations
3.5. TF tree diagram
4. Start multiple cameras
4.1. Identifying Camera USB Ports
4.2. List Connected Cameras
4.3. Launching Multiple Cameras
4.4. Setup for Multiple Camera Launch
4.5. Running the Launch File
4.6. Configuring the TF Tree for Multiple Cameras
4.7. Example TF Configuration for Two Cameras
5. Robot Intergrations
5.1. Robot integrations
6. Advanced
6.1. Multi camera sync
6.2. Component node
6.3. Zero-copy communications
6.4. GDB debug
6.5. Backward ros
6.6. Benchmark
6.7. Fast DDS Tuning
7. Tools
7.1. Some practical tools
8. Help Center
8.1. FAQ
8.2. Issue
9. License
