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‎README.MD‎

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@@ -6,30 +6,32 @@ Orbbec ROS SDK is a wrapper for OrbbecSDK that supports ROS Kinetic, Melodic, an
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It enables smooth integration of Orbbec 3D cameras into ROS projects.
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## Table of Contents
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<!-- TOC -->
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* [Orbbec ROS SDK](#orbbec-ros-sdk)
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* [Table of Contents](#table-of-contents)
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* [Install Dependencies](#install-dependencies)
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* [ROS](#ros)
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* [Other Dependencies](#other-dependencies)
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* [Create ROS Workspace and Build](#create-ros-workspace-and-build)
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* [Start the Camera](#start-the-camera)
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* [Select Topics and Control the Camera](#select-topics-and-control-the-camera)
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* [Available Services for Camera Control](#available-services-for-camera-control)
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* [Available Topics](#available-topics)
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* [Launch Parameters](#launch-parameters)
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* [Depth work mode switch:](#depth-work-mode-switch)
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* [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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* [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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* [Building a Debian Package](#building-a-debian-package)
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* [Launch files](#launch-files)
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* [Use Nodelet](#use-nodelet)
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* [Supported hardware products](#supported-hardware-products)
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* [Frequently Asked Questions](#frequently-asked-questions)
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* [No Picture from Multiple Cameras](#no-picture-from-multiple-cameras)
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* [Error: "Failed to start device: usbEnumerator createUsbDevice failed!"](#error-failed-to-start-device-usbenumerator-createusbdevice-failed)
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* [License](#license)
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<!-- TOC -->
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- [Orbbec ROS SDK](#orbbec-ros-sdk)
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- [Table of Contents](#table-of-contents)
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- [Install Dependencies](#install-dependencies)
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- [ROS](#ros)
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- [Other Dependencies](#other-dependencies)
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- [Create ROS Workspace and Build](#create-ros-workspace-and-build)
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- [Start the Camera](#start-the-camera)
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- [Select Topics and Control the Camera](#select-topics-and-control-the-camera)
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- [Available Services for Camera Control](#available-services-for-camera-control)
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- [Available Topics](#available-topics)
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- [Launch Parameters](#launch-parameters)
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- [Depth work mode switch:](#depth-work-mode-switch)
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- [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes)
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- [Check which profiles the camera supports](#check-which-profiles-the-camera-supports)
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- [Building a Debian Package](#building-a-debian-package)
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- [Launch files](#launch-files)
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- [Use Nodelet](#use-nodelet)
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- [Supported hardware products](#supported-hardware-products)
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- [Frequently Asked Questions](#frequently-asked-questions)
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- [No Picture from Multiple Cameras](#no-picture-from-multiple-cameras)
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- [Error: "Failed to start device: usbEnumerator createUsbDevice failed!"](#error-failed-to-start-device-usbenumerator-createusbdevice-failed)
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- [License](#license)
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<!-- TOC -->
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## Install Dependencies
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@@ -77,7 +79,7 @@ cd ~/ros_ws
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source ./devel/setup.bash
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roscd orbbec_camera
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cd scripts
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sudo cp 99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules
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sudo cp 99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules
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sudo udevadm control --reload && sudo udevadm trigger
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```
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In terminal 1:
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```bash
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source ./devel/setup.bash
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source ./devel/setup.bash
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roslaunch orbbec_camera gemini_330_series.launch
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```
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rosparam list
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```
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Get camera parameters (*MUST* start stream first):
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Get camera parameters (_MUST_ start stream first):
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```bash
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rosservice call /camera/get_camera_params "{}"
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Check device information:
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```bash
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rosservice call /camera/get_device_info "{}"
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rosservice call /camera/get_device_info "{}"
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```
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Get the SDK version (includes firmware and Orbbec SDK versions):
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Set/get (auto) exposure:
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```bash
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rosservice call /camera/set_color_auto_exposure '{data: false}'
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rosservice call /camera/set_color_auto_exposure '{data: false}'
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rosservice call /camera/set_left_ir_auto_exposure "{data: false}"
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# Setting exposure values (be careful with the data range; the following example may not be correct)
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rosservice call /camera/set_left_ir_exposure "{data: 2000}"
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rosservice call /camera/set_color_exposure "{data: 2000}"
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```bash
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# Get gain
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rosservice call /camera/get_color_gain '{}'
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rosservice call /camera/get_left_ir_gain '{}'
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rosservice call /camera/get_left_ir_gain '{}'
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# Setting the gain (be careful with the data range; the following example may not be correct)
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rosservice call /camera/set_color_gain "{data: 200}"
@@ -192,7 +194,7 @@ NOTE: The images are saved under `~/.ros/image` and are only available when the
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The service names intuitively reflect their purposes. It's crucial to understand that services related to setting or
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getting parameters—denoted as `set_*` and `get_*`—become available only when the respective `enable_*` parameters are
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activated. For instance, enabling features such as left infrared (IR) with `enable_left_ir`, right IR
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activated. For instance, enabling features such as left infrared (IR) with `enable_left_ir`, right IR
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with `enable_right_ir`, depth sensing with `enable_depth`, or color processing with `enable_color` (refer
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to [Launch Parameters](#Launch-Parameters)) is a prerequisite for their corresponding services to be operational. This
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configuration ensures that services are accessible only when their specific stream is enabled in the
@@ -341,9 +343,9 @@ resolutions is as follows:
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## Check which profiles the camera supports
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```bash
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rosrun orbbec_camera list_camera_profile_mode_node
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```
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```bash
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rosrun orbbec_camera list_camera_profile_mode_node
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```
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## Building a Debian Package
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## Launch files
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| product serials | launch file |
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|-------------------------------------|-----------------------|
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| astra+ | astra_adv.launch |
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| astra mini/astra mini pro/astra pro | astra.launch |
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| astra mini s pro | astra.launch |
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| astra2 | astra2.launch |
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| astra stereo s | stereo_s_u3.launch |
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| astra pro2 | astra_pro2.launch |
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| dabai | dabai.launch |
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| dabai d1 | dabai_d1.launch |
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| dabai dcw | dabai_dcw.launch |
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| dabai dw | dabai_dw.launch |
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| dabai pro | dabai_pro.launch |
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| deeya | deeya.launch |
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| femto / femto w | femto.launch |
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| femto mega | femto_mega.launch |
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| femto bolt | femto_bolt.launch |
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| gemini | gemini.launch |
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| gemini | gemini.launch |
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| gemini2 / dabai DCL | gemini2.launch |
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| gemini2L | gemini2L.launch |
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| gemini e | gemini_e.launch |
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| gemini e lite | gemini_e_lite.launch |
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| dabai max | dabai_max.launch |
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| dabai max pro | dabai_max_pro.launch |
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| gemini uw | gemini_uw.launch |
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| dabai dcw2 | dabai_dcw2.launch |
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| dabai dw2 | dabai_dw2.launch |
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| gemini ew | gemini_ew.launch |
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| gemini ew lite | gemini_ew_lite.launch |
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| gemini 335 /335 L | gemini_camera.launch |
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| product serials | launch file |
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| ----------------------------------- | ------------------------ |
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| astra+ | astra_adv.launch |
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| astra mini/astra mini pro/astra pro | astra.launch |
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| astra mini s pro | astra.launch |
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| astra2 | astra2.launch |
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| astra stereo s | stereo_s_u3.launch |
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| astra pro2 | astra_pro2.launch |
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| dabai | dabai.launch |
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| dabai d1 | dabai_d1.launch |
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| dabai dcw | dabai_dcw.launch |
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| dabai dw | dabai_dw.launch |
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| dabai pro | dabai_pro.launch |
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| deeya | deeya.launch |
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| femto / femto w | femto.launch |
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| femto mega | femto_mega.launch |
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| femto bolt | femto_bolt.launch |
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| gemini | gemini.launch |
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| gemini | gemini.launch |
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| gemini2 / dabai DCL | gemini2.launch |
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| gemini2L | gemini2L.launch |
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| gemini e | gemini_e.launch |
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| gemini e lite | gemini_e_lite.launch |
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| dabai max | dabai_max.launch |
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| dabai max pro | dabai_max_pro.launch |
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| gemini uw | gemini_uw.launch |
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| dabai dcw2 | dabai_dcw2.launch |
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| dabai dw2 | dabai_dw2.launch |
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| gemini ew | gemini_ew.launch |
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| gemini ew lite | gemini_ew_lite.launch |
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| gemini 335 /335 L | gemini_330_series.launch |
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**All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models
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within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you
@@ -406,12 +408,12 @@ For users who need to use nodelet, please refer to `gemini2_nodelet.launch`
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## Supported hardware products
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| **Products List** | **Firmware Version** |
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|-------------------|-----------------------------|
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| ----------------- | --------------------------- |
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| Gemini 335 | 1.2.20 |
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| Gemini 335L | 1.2.20 |
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| Femto Bolt | 1.0.6/1.0.9 |
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| Femto Mega | 1.1.7/1.2.7 |
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| Gemini 2 XL | Obox: V1.2.5 VL:1.4.54 |
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| Gemini 2 XL | Obox: V1.2.5 VL:1.4.54 |
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| Astra 2 | 2.8.20 |
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| Gemini 2 L | 1.4.32 |
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| Gemini 2 | 1.4.60 /1.4.76 |

‎docs/multi_camera.MD‎

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@@ -45,14 +45,14 @@ You can launch multiple cameras by specifying different USB ports for each camer
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```XML
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<launch>
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<include file="$(find orbbec_camera)/launch/gemini_camera.launch">
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<include file="$(find orbbec_camera)/launch/gemini_330_series.launch">
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<arg name="camera_name" value="camera_01"/>
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<arg name="usb_port" value="2-3.4.4.4.1"/>
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<arg name="device_num" value="2"/>
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<arg name="sync_mode" value="free_run"/>
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</include>
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<include file="$(find orbbec_camera)/launch/gemini_camera.launch">
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<include file="$(find orbbec_camera)/launch/gemini_330_series.launch">
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<arg name="camera_name" value="camera_02"/>
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<arg name="usb_port" value="2-3.4.4.4.3"/>
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<arg name="device_num" value="2"/>

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