# OrbbecSDK_ROS2 **Repository Path**: fluffing/OrbbecSDK_ROS2 ## Basic Information - **Project Name**: OrbbecSDK_ROS2 - **Description**: No description available - **Primary Language**: Unknown - **License**: Apache-2.0 - **Default Branch**: main - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2024-05-16 - **Last Updated**: 2024-05-16 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README # Orbbec ROS2 SDK ## [![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.5.2-green) Orbbec SDK ROS 2 is a wrapper for the Orbbec 3D camera that provides seamless integration with the ROS 2 environment. It supports ROS 2 Foxy, Galactic, and Humble distributions. ## Table of Contents * [Orbbec ROS2 SDK](#orbbec-ros2-sdk) * [![stable](http://badges.github.io/stability-badges/dist/stable.svg) ![version](https://img.shields.io/badge/version-1.5.2-green)](#-) * [Table of Contents](#table-of-contents) * [Installation Instructions](#installation-instructions) * [Getting start](#getting-start) * [Launch parameters](#launch-parameters) * [Predefined presets](#predefined-presets) * [Depth work mode switch](#depth-work-mode-switch) * [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes) * [All available service for camera control](#all-available-service-for-camera-control) * [All available topics](#all-available-topics) * [Network device enumeration](#network-device-enumeration) * [Multi-Camera](#multi-camera) * [Use hardware decoder to decode JPEG](#use-hardware-decoder-to-decode-jpeg) * [rockchip and Amlogic](#rockchip-and-amlogic) * [Nvidia Jetson](#nvidia-jetson) * [Check which profiles the camera supports](#check-which-profiles-the-camera-supports) * [Building a Debian Package](#building-a-debian-package) * [Preparing the Environment](#preparing-the-environment) * [Configuring ROS Dependencies](#configuring-ros-dependencies) * [Building the Package](#building-the-package) * [Launch files](#launch-files) * [Product support](#product-support) * [DDS Tuning](#dds-tuning) * [Frequently Asked Questions](#frequently-asked-questions) * [Other useful links](#other-useful-links) * [License](#license) ## Installation Instructions Install ROS 2 - Please refer to the official [ROS 2 installation guide](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html) guidance > If your ROS 2 command does not auto-complete, put the following two lines into your `.bashrc` > or `.zshrc` ```bash eval "$(register-python-argcomplete3 ros2)" eval "$(register-python-argcomplete3 colcon)" ``` Create `colcon` workspace ```bash mkdir -p ~/ros2_ws/src ``` Get source code ```bash cd ~/ros2_ws/src git clone https://github.com/orbbec/OrbbecSDK_ROS2.git ``` Install deb dependencies ```bash # assume you have sourced ROS environment, same blow sudo apt install libgflags-dev nlohmann-json3-dev libgoogle-glog-dev \ ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ``` Install udev rules. ```bash cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts sudo bash install_udev_rules.sh sudo udevadm control --reload-rules && sudo udevadm trigger ``` ## Getting start ```bash cd ~/ros2_ws/ # build release, Default is Debug colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release ``` Launch camera node - On terminal 1 ```bash . ./install/setup.bash ros2 launch orbbec_camera astra.launch.py # or other launch file, see below table ``` - On terminal 2 ```bash . ./install/setup.bash rviz2 ``` Select the topic you want to display - List topics / services/ parameters ( on terminal 3) ```bash ros2 topic list ros2 service list ros2 param list ``` - Get device info ```bash ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}' ``` - Get SDK version ```bash ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}' ``` - Get exposure ```bash ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}' ``` > If your check `ir` or `depth`, please change `/camera/get_color_exposure` > to `/camera/get_ir_exposure` or `/camera/get_depth_exposure`, Same below. - Get gain ```bash ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}' ``` - Get white balance ```bash ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}' ``` - Set auto exposure ```bash ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: false}' ``` - Set white balance ```bash ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 4600}' ``` - Set laser enable ```bash ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool "{data: true}" ``` - toggle sensor ```bash ros2 service call /camera/toggle_ir std_srvs/srv/SetBool "{data : true}" ``` - save point cloud ```bash ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}" ``` ## Launch parameters The following are the launch parameters available: - `connection_delay`: The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging. - `enable_point_cloud`: Enables the point cloud. - `enable_colored_point_cloud`: Enables the RGB point cloud. - `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively. - `enable_d2c_viewer`: Publishes the D2C overlay image (for testing only). - `device_num`: The number of devices. This must be filled in if multiple cameras are required. - `color_width`, `color_height`, `color_fps`: The resolution and frame rate of the color stream. - `ir_width`, `ir_height`, `ir_fps`: The resolution and frame rate of the IR stream. - `depth_width`, `depth_height`, `depth_fps`: The resolution and frame rate of the depth stream. - `enable_color`: Enables the RGB camera. - `enable_depth`: Enables the depth camera. - `enable_ir`: Enables the IR camera. - `depth_registration`: Enables hardware alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. - `usb_port`: The USB port of the camera. This is required when multiple cameras are used. - `enable_accel`: Enables the accelerometer. - `accel_rate`: The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`. The specific value depends on the current camera. - `accel_range`: The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera. - `enable_gyro`: Enables the gyroscope. - `gyro_rate`: The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`. The specific value depends on the current camera. - `gyro_range`: The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the current camera. - `enumerate_net_device`: Enables the function of enumerating network devices. True means enabled, false means disabled. This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true. - `depth_filter_config`: Configures the loading path for the depth filtering configuration file. By default, the depth filtering configuration file is located in the /config/depthfilter directory. Supported only on Gemini2. - `depth_precision`: The depth precision should be in the format `1mm`. The default value is `1mm`. - `enable_laser`: Enables the laser. The default value is `true`. - `laser_on_off_mode`: Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate. The default value is `0`. - `device_preset`: The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set the `device_preset` value based on your use case. The value should be one of the preset names listed [in the table](#predefined-presets). - `enable_decimation_filter`: This filter effectively reduces the depth scene complexity. The filter runs on kernel sizes [2x2] to [8x8] pixels. The image size is scaled down proportionally in both dimensions to preserve the aspect ratio. - `enable_hdr_merge`: This filter is used jointly with the depth HDR function. By merging consecutive depth images of alternating exposure values, we can overcome challenges in acquiring depth values for under-illuminated and over-illuminated objects simultaneously. - `enable_sequence_id_filter`: This filter is used jointly with the depth HDR function and outputs only the sequence with the specified sequence ID. - `enable_threshold_filter`: This filter preserves depth values of interest and omits depth values out of scope. - `enable_noise_removal_filter`: This filter removes speckle noise in clusters and gives rise to a less-filled depth map. - `enable_spatial_filter`: This filter performs multiple iterations of processing as specified by the magnitude parameter to enhance the smoothness of depth data. It is also capable of filling small holes in depth maps. - `enable_temporal_filter`: This filter is intended to improve the depth data persistency by manipulating per-pixel values based on previous frames. The filter performs a single pass on the data, adjusting the depth values while also updating the tracking history. - `enable_hole_filling_filter`: This filter fills all holes in the depth map using the specified mode. - `retry_on_usb3_detection_failure`: If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets. **IMPORTANT**: *Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.* ## Predefined presets | Preset | Features | Recommended use cases | |----------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|---------------------------------------------------------------------------------------------------------------------------------------------------------------| | Default | - Best visual perception
- Overall good performance in accuracy, fill rate, tiny objects, etc. | - Generic
- Robotics | | Hand | - Clear hand and finger edges | - Gesture recognition | | High Accuracy | - Depth of high confidence
- Barely noise depth values
- Lower fill rate | - Collision avoidance
- Object scanning | | High Density | - Higher fill rate
- More tiny objects
- May suffer from noise depth values | - Object recognition
- Pick & place
- Foreground & background animation | | Medium Density | - Balanced performance in fill rate and accuracy
- In comparison to Default: lower fill rate, better edge quality | - Generic and alternative to Default | | Custom | - User defined Preset
- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets
- For well-established custom configurations | Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset` parameter. ## Depth work mode switch Orbbec SDK ROS 2 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. - Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support. - The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras. - The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed. - The specific camera depth work mode support types can be found in the comments of the depth mode. ```python # Depth work mode support is as follows: # Unbinned Dense Default # Unbinned Sparse Default # Binned Sparse Default # Obstacle Avoidance DeclareLaunchArgument('depth_work_mode', default_value='') ``` - View depth work modes: ```bash ros2 run orbbec_camera list_depth_work_mode_node ``` ## Configuration of depth NFOV and WFOV modes For the Femto Mega and Femto Bolt devices, the NFOV and WFOV modes are implemented by configuring the resolution of Depth and IR in the launch file. In launch file, depth_width、depth_height、ir_width、ir_height represents the resolution of the depth and the resolution of the IR. The frame fps and resolution of IR must be consistent with the depth. The correspondence between different modes and resolutions is as follows: - NFOV unbinned: 640 x 576. - NFOV binned: 320 x 288. - WFOV unbinned: 1024 x 1024. - WFOV binned: 512 x 512. ## All available service for camera control The name of the following service already expresses its function. However, it should be noted that the corresponding `set_[ir|depth|color]*` and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]` to `true` in the stream that corresponds to the argument of the launch file. - `/camera/get_auto_white_balance` - `/camera/get_color_exposure` - `/camera/get_color_gain` - `/camera/get_depth_exposure` - `/camera/get_depth_gain` - `/camera/get_device_info` - `/camera/get_ir_exposure` - `/camera/get_ir_gain` - `/camera/get_ldp_status` - `/camera/get_sdk_version` - `/camera/get_white_balance` - `/camera/set_auto_white_balance` - `/camera/set_color_auto_exposure` - `/camera/set_color_exposure` - `/camera/set_color_gain` - `/camera/set_depth_auto_exposure` - `/camera/set_depth_exposure` - `/camera/set_depth_gain` - `/camera/set_fan_work_mode` - `/camera/set_floor_enable` - `/camera/set_ir_auto_exposure` - `/camera/set_ir_exposure` - `/camera/set_ir_gain` - `/camera/set_laser_enable` - `/camera/set_ldp_enable` - `/camera/set_white_balance` - `/camera/toggle_color` - `/camera/toggle_depth` - `/camera/toggle_ir` ## All available topics - `/camera/color/camera_info` : The color camera info. - `/camera/color/image_raw`: The color stream image. - `/camera/depth/camera_info`: The depth stream image. - `/camera/depth/image_raw`: The depth stream image - `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`. - `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud` is `true`. - `/camera/ir/camera_info`: The IR camera info. - `/camera/ir/image_raw`: The IR stream image - `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on - `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro`turned off，`enable_gyro`turned on - `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro` turned on - `/diagnostics`: The diagnostic information of the camera, Currently, the diagnostic information only includes the temperature of the camera. ## Network device enumeration Currently, the network device enumeration function is supported only by the Femto Mega device. When accessing this device over the network, if `enumerate_net_device` is set to `true`, the device will be automatically enumerated, eliminating the need to configure the IP address in advance or set the enable switch to true. The specific configuration methods are as follows: - `enumerate_net_device`: enumeration network device automatically, only supported by Femto Mega. if `enumerate_net_device` set to `true`, the device will be enumerated automatically,No need to set the `net_device_ip` and `net_device_port` parameters. - `net_device_ip`: The IP address of the device. - `net_device_port`: The port number of the device. ## Multi-Camera - To get the `usb_port` of the camera, plug in the camera and run the following command in the terminal: ```bash ros2 run orbbec_camera list_devices_node ``` - Set the `device_num` parameter to the number of cameras you have. - Go to the `OrbbecSDK_ROS2/launch/multi_xxx.launch.py` file and change the `usb_port`. - Don't forget to put the `include` tag inside the `group` tag. Otherwise, the parameter values of different cameras may become contaminated. ```python from launch import LaunchDescription from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription, GroupAction, ExecuteProcess from launch.launch_description_sources import PythonLaunchDescriptionSource from launch_ros.actions import Node from ament_index_python.packages import get_package_share_directory import os def generate_launch_description(): # Include launch files package_dir = get_package_share_directory('orbbec_camera') launch_file_dir = os.path.join(package_dir, 'launch') launch1_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(launch_file_dir, 'gemini2L.launch.py') ), launch_arguments={ 'camera_name': 'camera_01', 'usb_port': '6-2.4.4.2', # replace your usb port here 'device_num': '2' }.items() ) launch2_include = IncludeLaunchDescription( PythonLaunchDescriptionSource( os.path.join(launch_file_dir, 'gemini2L.launch.py') ), launch_arguments={ 'camera_name': 'camera_02', 'usb_port': '6-2.4.1', # replace your usb port here 'device_num': '2' }.items() ) # If you need more cameras, just add more launch_include here, and change the usb_port and device_num # Launch description ld = LaunchDescription([ GroupAction([launch1_include]), GroupAction([launch2_include]), ]) return ld ``` - To launch the cameras, run the following command: ```bash ros2 launch orbbec_camera multi_camera.launch.py ``` ## Use hardware decoder to decode JPEG ### rockchip and Amlogic Depends on `rockchip-mpp-dev` and `rockchip-rga-dev`, not all systems have these two packages, the names may be different, please search by yourself. Open `CMakeLists.txt` and set `USE_RK_HW_DECODER` to `ON`. ### Nvidia Jetson Depends on: `jetson_multimedia_api`,`libyuv`. Open `CMakeLists.txt` and set `USE_NV_HW_DECODER` to `ON`. ## Check which profiles the camera supports ```bash ros2 run orbbec_camera list_camera_profile_mode_node ``` ## Building a Debian Package ### Preparing the Environment Before starting, install the required tools: ```bash sudo apt install debhelper fakeroot python3-bloom ``` ### Configuring ROS Dependencies Add the following YAML file to your system at `/etc/ros/rosdep/sources.list.d/00-orbbec.yaml`. Make sure to replace `focal` with the codename of your Ubuntu version and `humble` with your ROS2 distribution name: ```yaml orbbec_camera_msgs: ubuntu: focal: [ ros-humble-orbbec-camera-msgs ] ``` Next, create a new file `/etc/ros/rosdep/sources.list.d/50-orbbec.list` and add this line to specify the path to the YAML file: ```bash yaml file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml ``` Update the rosdep database to reflect these changes: ```bash rosdep update ``` ### Building the Package Navigate to your workspace and build the project: ```bash cd ~/ros2_ws/ colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release . install/setup.bash cd src/OrbbecSDK_ROS2/ bash .make_deb.sh ``` ## Launch files | product serials | launch file | |---------------------------------------|-----------------------------| | astra+ | astra_adv.launch.py | | astra mini /astra mini pro /astra pro | astra.launch.py | | astra mini pro s | astra.launch.py | | astra2 | astra2.launch.py | | astra stereo s | stereo_s_u3.launch.py | | astra pro2 | astra_pro2.launch.py | | dabai | dabai.launch.py | | dabai d1 | dabai_d1.launch.py | | dabai dcw | dabai_dcw.launch.py | | dabai dw | dabai_dw.launch.py | | dabai pro | dabai_pro.launch.py | | deeya | deeya.launch.py | | femto /femto w | femto.launch.py | | femto mega | femto_mega.launch.py | | femto bolt | femto_bolt.launch.py | | gemini | gemini.launch.py | | gemini | gemini.launch.py | | gemini2 / dabai DCL | gemini2.launch.py | | gemini2L | gemini2L.launch.py | | gemini e | gemini_e.launch.py | | gemini e lite | gemini_e_lite.launch.py | | dabai max | dabai_max.launch.py | | dabai max pro | dabai_max_pro.launch.py | | gemini uw | gemini_uw.launch.py | | dabai dcw2 | dabai_dcw2.launch.py | | dabai dw2 | dabai_dw2.launch.py | | gemini ew | gemini_ew.launch.py | | gemini ew lite | gemini_ew_lite.launch.py | | gemini 330 series | gemini_330_series.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.** ## Product support Please refer to the OrbbecSDK supported products: [Product Support](https://github.com/orbbec/OrbbecSDK?tab=readme-ov-file#product-support) ## DDS Tuning The default DDS settings (Galactic) may not be optimal for data transmission. Different DDS settings can have varying performance. In this example, we use CycloneDDS. For more detailed information, please refer to the [ROS DDS Tuning](https://docs.ros.org/en/humble/How-To-Guides/DDS-tuning.html)。 ● Edit cyclonedds configuration file ```bash sudo gedit /etc/cyclonedds/config.xml ``` Add ```xml lo false 16MB auto 30 ``` ● Set the environment variables, add to `.zshrc` or `.bashrc` ```bash export ROS_DOMAIN_ID=42 # Numbers from 0 to 232 export ROS_LOCALHOST_ONLY=1 export CYCLONEDDS_URI=file:///etc/cyclonedds/config.xml ``` Tip：to understand why the maximum ROS_DOMAIN_ID is 232, please visit [The ROS DOMAIN ID](https://docs.ros.org/en/humble/Concepts/About-Domain-ID.html) ● Increase UDP receive buffer size Edit ```bash /etc/sysctl.d/10-cyclone-max.conf ``` Add ```bash net.core.rmem_max=2147483647 net.core.rmem_default=2147483647 ``` ## Frequently Asked Questions No Picture from Multiple Cameras - it's possible that the power supply is insufficient. To avoid this, do not connect all cameras to the same hub and use a powered hub instead. - It's also possible that the resolution is too high. To resolve this, try lowering the resolution. Why are there so many launch files here - The reason for the presence of multiple launch files is due to the fact that the default resolutions and image formats of different cameras vary. To make it easier to use, the launch files have been separated for each camera. ## Other useful links - [Orbbec SDK](https://orbbec.github.io/OrbbecSDK/) - [Gemini 330 depth presets](https://www.orbbec.com/docs/g330-use-depth-presets/) ## License 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](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. **Other names and brands may be claimed as the property of others**