---

6. Advanced

This section delves into advanced usage of Orbbec SDK ROS2, tailored for product application scenarios. It provides in-depth guidance for leveraging the SDK’s capabilities to the fullest. Discover how to optimize your robotics projects with advanced features of Orbbec SDK ROS2 environments.

---

This Section Covers:

• 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