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Version: V2.0.4.x

8.10 Depth Camera

Start Orbbec Camera​

  • Walker Tienkung·Voice & Vision:

    • Orin (192.168.41.2) 
      cd /home/nvidia/orbbec_camera_ros2
      source install/setup.bash
      ros2 launch orbbec_camera slam_330.launch.py

  • Walker Tienkung·Embodied Intelligence:

    • Large Model Orin (192.168.41.2): 
      cd /home/nvidia/orbbec_camera_ros2
      source install/setup.bash
      ros2 launch orbbec_camera gemini_330_series.launch.py
    • Navigation Orin (192.168.41.3): 
      cd/home/nvidia/orbbec_camera_ros2
      sourceinstall/setup.bash
      ros2launchorbbec_cameraslam_330.launch.py

View Node Information​

After starting, use ros2 node list to check nodes, and you can clearly see the /camera/camera node. Use the command ros2 node info /camera/camera to view node information.

The default published topics are as follows:

/camera/color/camera_info: sensor_msgs/msg/CameraInfo 
/camera/color/image_raw: sensor_msgs/msg/Image
/camera/color/metadata: orbbec_camera_msgs/msg/Metadata
/camera/depth/camera_info: sensor_msgs/msg/CameraInfo
/camera/depth/image_raw: sensor_msgs/msg/Image
/camera/depth/metadata: orbbec_camera_msgs/msg/Metadata
/camera/depth/points: sensor_msgs/msg/PointCloud2
/camera/depth_filter_status: std_msgs/msg/String
/camera/depth_to_color: orbbec_camera_msgs/msg/Extrinsics
/diagnostics: diagnostic_msgs/msg/DiagnosticArray
/parameter_events: rcl_interfaces/msg/ParameterEvent
/rosout: rcl_interfaces/msg/Log
/tf: tf2_msgs/msg/TFMessage
/tf_static: tf2_msgs/msg/TFMessage

The default provided services are as follows:

/camera/camera/describe_parameters: rcl_interfaces/srv/DescribeParameters
/camera/camera/get_parameter_types: rcl_interfaces/srv/GetParameterTypes
/camera/camera/get_parameters: rcl_interfaces/srv/GetParameters
/camera/camera/list_parameters: rcl_interfaces/srv/ListParameters
/camera/camera/set_parameters: rcl_interfaces/srv/SetParameters
/camera/camera/set_parameters_atomically: rcl_interfaces/srv/SetParametersAtomically
/camera/get_auto_white_balance: orbbec_camera_msgs/srv/GetInt32
/camera/get_color_exposure: orbbec_camera_msgs/srv/GetInt32
/camera/get_color_gain: orbbec_camera_msgs/srv/GetInt32
/camera/get_depth_exposure: orbbec_camera_msgs/srv/GetInt32
/camera/get_depth_gain: orbbec_camera_msgs/srv/GetInt32
/camera/get_device_info: orbbec_camera_msgs/srv/GetDeviceInfo
/camera/get_ldp_status: orbbec_camera_msgs/srv/GetBool
/camera/get_lrm_measure_distance: orbbec_camera_msgs/srv/GetInt32
/camera/get_sdk_version: orbbec_camera_msgs/srv/GetString
/camera/get_white_balance: orbbec_camera_msgs/srv/GetInt32
/camera/reboot_device: std_srvs/srv/Empty
/camera/save_images: std_srvs/srv/Empty
/camera/save_point_cloud: std_srvs/srv/Empty
/camera/set_auto_white_balance: std_srvs/srv/SetBool
/camera/set_color_ae_roi: orbbec_camera_msgs/srv/SetArrays
/camera/set_color_auto_exposure: std_srvs/srv/SetBool
/camera/set_color_exposure: orbbec_camera_msgs/srv/SetInt32
/camera/set_color_flip: std_srvs/srv/SetBool
/camera/set_color_gain: orbbec_camera_msgs/srv/SetInt32
/camera/set_color_mirror: std_srvs/srv/SetBool
/camera/set_color_rotation: orbbec_camera_msgs/srv/SetInt32
/camera/set_depth_ae_roi: orbbec_camera_msgs/srv/SetArrays
/camera/set_depth_auto_exposure: std_srvs/srv/SetBool
/camera/set_depth_exposure: orbbec_camera_msgs/srv/SetInt32
/camera/set_depth_flip: std_srvs/srv/SetBool
/camera/set_depth_gain: orbbec_camera_msgs/srv/SetInt32
/camera/set_depth_mirror: std_srvs/srv/SetBool
/camera/set_depth_rotation: orbbec_camera_msgs/srv/SetInt32
/camera/set_fan_work_mode: orbbec_camera_msgs/srv/SetInt32
/camera/set_filter: orbbec_camera_msgs/srv/SetFilter
/camera/set_floor_enable: std_srvs/srv/SetBool
/camera/set_ir_long_exposure: std_srvs/srv/SetBool
/camera/set_laser_enable: std_srvs/srv/SetBool
/camera/set_ldp_enable: std_srvs/srv/SetBool
/camera/set_read_customer_data: orbbec_camera_msgs/srv/SetString
/camera/set_reset_timestamp: std_srvs/srv/SetBool
/camera/set_sync_hosttime: std_srvs/srv/SetBool
/camera/set_sync_interleaverlaser: orbbec_camera_msgs/srv/SetInt32
/camera/set_white_balance: orbbec_camera_msgs/srv/SetInt32
/camera/set_write_customer_data: orbbec_camera_msgs/srv/SetString
/camera/switch_ir: orbbec_camera_msgs/srv/SetString
/camera/toggle_color: std_srvs/srv/SetBool
/camera/toggle_depth: std_srvs/srv/SetBool