7.4 RGBD相机
Walker-S2在体后以及腰前配置了Gemini 2L相机并提供如下话题及服务:
7.4.1 体后奥比中光Gemini 2L相机
- 默认提供话题如下：
/sensor/camera/body_back_rgbd/color/info: sensor_msgs/msg/CameraInfo
/sensor/camera/body_back_rgbd/color/raw: shm_msgs/msg/Image1m
/sensor/camera/body_back_rgbd/depth/info: sensor_msgs/msg/CameraInfo
/sensor/camera/body_back_rgbd/depth/raw: shm_msgs/msg/Image1m
/sensor/camera/body_back_rgbd/mix/raw: shm_msgs/msg/Vec2Image1m
- 示例
- 说明:获取体后Gemini 2L数据
- 话题名称：/sensor/camera/body_back_rgbd/color/raw和/sensor/camera/body_back_rgbd/depth/raw
- 类型：shm_msgs::msg::Image1m
- 数据格式
shm_msgs::msg::Image1m
shm_msgs/Header header # 消息头
uint32 height # 图像高度
uint32 width # 图像宽度
shm_msgs/String encoding # 像素编码
uint8 is_bigendian # 是否为大端序
uint32 step # 行的总字节长度
uint8[1048576] data # 实际矩阵数据
uint32 DATA_MAX_SIZE=1048576
shm_msgs/Header
builtin_interfaces/Time stamp
shm_msgs/String frame_id
shm_msgs/String
char[256] data
uint8 size 0
uint8 MAX_SIZE=255
- 订阅话题：
ros2 run ubt_ros2_example headfrontcolor_subscriber # 订阅颜色话题
- 默认提供服务如下：
/body_back_rgbd/get_color_auto_white_balance: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_color_device_info: orbbec_camera_msgs/srv/GetDeviceInfo
/body_back_rgbd/get_color_exposure: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_color_gain: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_color_sharpness: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_color_white_balance: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_depth_exposure: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/get_depth_gain: orbbec_camera_msgs/srv/GetInt32
/body_back_rgbd/set_color_auto_exposure: std_srvs/srv/SetBool
/body_back_rgbd/set_color_auto_white_balance: std_srvs/srv/SetBool
/body_back_rgbd/set_color_exposure: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_color_gain: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_color_mirror: std_srvs/srv/SetBool
/body_back_rgbd/set_color_sharpness: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_color_white_balance: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_depth_auto_exposure: std_srvs/srv/SetBool
/body_back_rgbd/set_depth_exposure: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_depth_gain: orbbec_camera_msgs/srv/SetInt32
/body_back_rgbd/set_depth_mirror: std_srvs/srv/SetBool
/body_back_rgbd/toggle_color: std_srvs/srv/SetBool
/body_back_rgbd/toggle_depth: std_srvs/srv/SetBool
- 其中奥比相机服务接口数据格式如下，详情请见奥比官方SDK: https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main
5.3.2、腰前奥比中光Gemini 2L相机
- 说明：获取腰前Gemini 2L数据
- 默认提供话题如下：
/sensor/camera/waist_front_rgbd/color/info: sensor_msgs/msg/CameraInfo
/sensor/camera/waist_front_rgbd/color/raw: shm_msgs/msg/Image1m
/sensor/camera/waist_front_rgbd/depth/info: sensor_msgs/msg/CameraInfo
/sensor/camera/waist_front_rgbd/depth/raw: shm_msgs/msg/Image1m
/sensor/camera/waist_front_rgbd/mix/raw: shm_msgs/msg/Vec2Image1m
- 示例：
- 话题名称：/sensor/camera/waist_front_rgbd/color/raw和/sensor/camera/waist_front_rgbd/depth/raw
- 类型：shm_msgs::msg::Image1m
- 数据格式
shm_msgs::msg::Image1m
shm_msgs/Header header # 消息头
uint32 height # 图像高度
uint32 width # 图像宽度
shm_msgs/String encoding # 像素编码
uint8 is_bigendian # 是否为大端序
uint32 step # 行的总字节长度
uint8[1048576] data # 实际矩阵数据
uint32 DATA_MAX_SIZE=1048576
shm_msgs/Header
builtin_interfaces/Time stamp
shm_msgs/String frame_id
shm_msgs/String
char[256] data
uint8 size 0
uint8 MAX_SIZE=255
- 订阅话题：
ros2 run ubt_ros2_example waistfrontcolor_subscriber
- 默认提供服务如下：
/waist_front_rgbd/get_color_auto_white_balance: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_color_device_info: orbbec_camera_msgs/srv/GetDeviceInfo
/waist_front_rgbd/get_color_exposure: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_color_gain: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_color_sharpness: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_color_white_balance: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_depth_exposure: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/get_depth_gain: orbbec_camera_msgs/srv/GetInt32
/waist_front_rgbd/set_color_auto_exposure: std_srvs/srv/SetBool
/waist_front_rgbd/set_color_auto_white_balance: std_srvs/srv/SetBool
/waist_front_rgbd/set_color_exposure: orbbec_camera_msgs/srv/SetInt32
/waist_front_rgbd/set_color_gain: orbbec_camera_msgs/srv/SetInt32
/waist_front_rgbd/set_color_mirror: std_srvs/srv/SetBool
/waist_front_rgbd/set_color_sharpness: orbbec_camera_msgs/srv/SetInt32
/waist_front_rgbd/set_color_white_balance: std_srvs/srv/SetBool
/waist_front_rgbd/set_depth_auto_exposure: std_srvs/srv/SetBool
/waist_front_rgbd/set_depth_exposure: orbbec_camera_msgs/srv/SetInt32
/waist_front_rgbd/set_depth_gain: orbbec_camera_msgs/srv/SetInt32
/waist_front_rgbd/set_depth_mirror: std_srvs/srv/SetBool
/waist_front_rgbd/toggle_color: std_srvs/srv/SetBool
/waist_front_rgbd/toggle_depth: std_srvs/srv/SetBool