The OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with the ROS 2 ecosystem. It supports ROS2 Foxy, Humble, and Jazzy distributions.
- Default branch: v2-main
- For legacy OpenNI devices: use the main branch
- For users in China: use the Gitee repository
Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
| Product Series | Product | Branch main | Branch v2-main |
|---|---|---|---|
| Gemini 435Le | Gemini 435Le | not supported | recommended for new designs |
| Gemini 330 | Gemini 335Le | not supported | recommended for new designs |
| Gemini 335 | full maintenance | recommended for new designs | |
| Gemini 336 | full maintenance | recommended for new designs | |
| Gemini 330 | full maintenance | recommended for new designs | |
| Gemini 335L | full maintenance | recommended for new designs | |
| Gemini 336L | full maintenance | recommended for new designs | |
| Gemini 330L | full maintenance | recommended for new designs | |
| Gemini 335Lg | not supported | recommended for new designs | |
| Gemini 2 | Gemini 2 | full maintenance | recommended for new designs |
| Gemini 2 L | full maintenance | recommended for new designs | |
| Gemini 2 XL | recommended for new designs | to be supported | |
| Gemini 215 | not supported | recommended for new designs | |
| Gemini 210 | not supported | recommended for new designs | |
| Femto | Femto Bolt | full maintenance | recommended for new designs |
| Femto Mega | full maintenance | recommended for new designs | |
| Femto Mega I | full maintenance | recommended for new designs | |
| Astra | Astra 2 | full maintenance | recommended for new designs |
| Astra+ | limited maintenance | not supported | |
| Astra Pro Plus | limited maintenance | not supported | |
| Astra Mini | Astra Mini (S) Pro | full maintenance | recommended for new designs |
| LiDAR | Pulsar ME450 | not supported | recommended for new designs |
| Pulsar SL450 | not supported | recommended for new designs |
Note: If you do not find your device, please contact our FAE or sales representative for help.
Definition:
- Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
- Full maintenance: we will provide bug fix support;
- Limited maintenance: we will provide critical bug fix support;
- Not supported: we will not support specific device in this version;
- To be supported: we will add support in the near future.
Migration Guide
If you need to migrate existing projects from the main (v1.x) branch to the v2-main (v2.x) branch, please refer to the official migration guide
Environment configuration
Install ROS 2 according to the official guide:
Install dependencies:
sudo apt install libgflags-dev nlohmann-json3-dev \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1Enable ROS 2 auto-completion:
eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"Linux Binary Package Installation
Check available packages:
sudo apt update
apt list | grep orbbecInstall OrbbecSDK ROS2 package:
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-descriptionAfter installation, you can use it directly without compilation.
Build from Source
Create a colcon workspace:
mkdir -p ~/ros2_ws/srcClone source and checkout v2-main branch:
cd ~/ros2_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
cd OrbbecSDK_ROS2
git checkout v2-mainBuild:
cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=ReleaseTo allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.
Binary Installation
sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm triggerBuild from Source
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm triggerThis step is mandatory for Linux users.
Notes: If this script is not executed, open the device will fail due to permission issues. You need to run the sample with sudo (administrator privileges).
Launch camera node
- On terminal 1
source ~/ros2_ws/install/setup.bash
ros2 run orbbec_camera list_devices_node # Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table- On terminal 2
source ~/ros2_ws/install/setup.bash
rviz2Select the topic you want to display
- List topics / services/ parameters ( On terminal 3)
ros2 topic list
ros2 service list
ros2 param list- Echo a topic
ros2 topic echo /camera/depth/camera_info- Call a service
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'For more usage details, please refer to the official OrbbecSDK ROS2 documentation
Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-main branch. More devices support will be added in the near future. If you can not find your device in the table below, try the main branch.
For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
| Products List | Recommended FW Version | Launch File |
|---|---|---|
| Astra Mini Pro | 2.0.03 | astra.launch.py |
| Astra Mini S Pro | 2.0.03 | astra.launch.py |
| Gemini 435Le | 1.3.6 | gemini435_le.launch.py |
| Gemini 330 series | 1.6.00 | gemini_330_series.launch.py |
| Gemini 215 | 1.0.9 | gemini210.launch.py |
| Gemini 210 | 1.0.9 | gemini210.launch.py |
| Gemini 2 | 1.4.98 | gemini2.launch.py |
| Gemini 2 L | 1.5.2 | gemini2L.launch.py |
| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
| Femto Mega | 1.3.1 | femto_mega.launch.py |
| Femto Mega I | 2.0.4 | femto_mega.launch.py |
| Astra 2 | 2.8.20 | astra2.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models 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 encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
please refer to the official OrbbecSDK ROS2 documentation
To explore practical examples and gain insight into how to use the camera in ROS, please navigate to the Examples section for more information.
Copyright 2024 Orbbec Ltd.
Licensed under the Apache License, Version 2.0 (the "License"); you may not use this project except in compliance with the License. You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software distributed under the License is distributed on an " AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
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