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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
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© Copyright 2023, ORBBEC INC. www.orbbec.com.cn. Last updated on 2024-11-04 14:58:37.