7.1. Some practical tools

Tool Name	effect
list_devices_node	check the camera USB port number
list_depth_work_mode_node	view depth work modes
list_camera_profile_mode_node	check which profiles the camera supports
topic_statistics_node	topic statistics
multi_save_rgbir_node	Multi camera sync save image, used to test synchronization quality
metadata_save_files_node	Save the depth, left and right ir images and metadata data
metadata_export_files_node	Compared with metadata_save_files_node, it has one more color collection but reduces some metadata data saving

7.1.1. list_devices_node

If you have connected multiple cameras, but you want to start a specific camera, you can run the list_devices_node tool to view the USB port of each camera.

ros2 run orbbec_camera list_devices_node

Multi_camera1

7.1.2. list_depth_work_mode_node

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.

View depth work modes:

ros2 run orbbec_camera list_depth_work_mode_node

Multi_camera1

7.1.3. list_camera_profile_mode_node

Check which profiles the camera supports:

ros2 run orbbec_camera list_camera_profile_mode_node

The above image only shows part of the output

7.1.4. multi_save_rgbir_node

The purpose of multi_save_rgbir_node is to test the synchronization effect of using multiple Orbbec cameras in OrbbecSDK ROS2

This tool will save the color and left IR images of each camera and the timestamp information

Multi_camera1

Add the tool node shown in the figure above to multi_camera_synced.launch.py
The parameter order of usb_ports: “Host”, “Slave 1”, “Slave 2”, “Slave 3”. Fill in as many usb_ports as there are cameras.
ir_topics and color_topics are topic names. Fill in as many names as there are cameras.

7.1.5. metadata_save_files_node

ros2 run orbbec_camera metadata_save_files_node

7.1.6. metadata_export_files_node

The node’s configuration parameter file is located in :orbbec_camera/config/metadataexport/metadata_export_params.json

ros2 run orbbec_camera metadata_export_files_node