奥比中光RGBD在JETSON ORIN NX的ROS程序

# Orbbec ROS SDK [](http://github.com/badges/stability-badges)  Orbbec ROS SDK is a wrapper for Orbbec SDK that supports ROS Kinetic, Melodic, and Noetic distributions. It enables smooth integration of Orbbec 3D cameras into ROS projects. ## Table of Contents <!-- TOC --> * [Orbbec ROS SDK](#orbbec-ros-sdk) * [Table of Contents](#table-of-contents) * [Install Dependencies](#install-dependencies) * [ROS](#ros) * [Other Dependencies](#other-dependencies) * [Create ROS Workspace and Build](#create-ros-workspace-and-build) * [Start the Camera](#start-the-camera) * [Select Topics and Control the Camera](#select-topics-and-control-the-camera) * [Launch Parameters](#launch-parameters) * [Depth work mode switch:](#depth-work-mode-switch) * [Configuration of depth NFOV and WFOV modes](#configuration-of-depth-nfov-and-wfov-modes) * [Check which profiles the camera supports](#check-which-profiles-the-camera-supports) * [Available Services for Camera Control](#available-services-for-camera-control) * [Available Topics](#available-topics) * [Building a Debian Package](#building-a-debian-package) * [Launch files](#launch-files) * [Use Nodelet](#use-nodelet) * [Supported hardware products](#supported-hardware-products) * [Frequently Asked Questions](#frequently-asked-questions) * [No Picture from Multiple Cameras](#no-picture-from-multiple-cameras) * [Error: "Failed to start device: usbEnumerator createUsbDevice failed!"](#error-failed-to-start-device-usbenumerator-createusbdevice-failed) * [Other useful links](#other-useful-links) * [License](#license) <!-- TOC --> ## Install Dependencies ### ROS - Please refer directly to the ROS [wiki](http://wiki.ros.org/ROS/Installation) for installation instructions. ### Other Dependencies - Install dependencies (be careful with your ROS distribution): ```bash # Assuming you have sourced the ROS environment, same below sudo apt install libgflags-dev ros-$ROS_DISTRO-image-geometry ros-$ROS_DISTRO-camera-info-manager \ ros-$ROS_DISTRO-image-transport ros-$ROS_DISTRO-image-publisher libgoogle-glog-dev libusb-1.0-0-dev libeigen3-dev \ ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ``` ## Create ROS Workspace and Build Create a ROS workspace (if you don't have one): ```bash mkdir -p ~/ros_ws/src ``` Get the source code: ```bash cd ~/ros_ws/src git clone https://github.com/orbbec/OrbbecSDK_ROS1.git ``` Build the package: ```bash cd ~/ros_ws catkin_make ``` Install udev rules: ```bash cd ~/ros_ws source ./devel/setup.bash roscd orbbec_camera cd scripts sudo cp 99-obsensor-libusb.rules /etc/udev/rules.d/99-obsensor-libusb.rules sudo udevadm control --reload && sudo udevadm trigger ``` ## Start the Camera In terminal 1: ```bash source ./devel/setup.bash roslaunch orbbec_camera gemini_330_series.launch ``` In terminal 2: ```bash source ./devel/setup.bash rviz ``` ## Select Topics and Control the Camera Check topics, services, and parameters (open a new terminal): ```bash rostopic list rosservice list rosparam list ``` Get camera parameters (_MUST_ start stream first): ```bash rosservice call /camera/get_camera_params "{}" ``` Check camera parameters (please refer to the ROS documentation for the meaning of specific fields in the [camera info](http://docs.ros.org/en/melodic/api/sensor_msgs/html/msg/CameraInfo.html)): ```bash rostopic echo /camera/depth/camera_info rostopic echo /camera/color/camera_info ``` Check device information: ```bash rosservice call /camera/get_device_info "{}" ``` Get the SDK version (includes firmware and Orbbec SDK versions): ```bash rosservice call /camera/get_sdk_version "{}" ``` Set/get (auto) exposure: ```bash rosservice call /camera/set_color_auto_exposure '{data: false}' rosservice call /camera/set_left_ir_auto_exposure "{data: false}" # Setting exposure values (be careful with the data range; the following example may not be correct) rosservice call /camera/set_left_ir_exposure "{data: 2000}" rosservice call /camera/set_color_exposure "{data: 2000}" # Get exposure rosservice call /camera/get_left_ir_exposure "{}" rosservice call /camera/get_color_exposure "{}" ``` Set/get gain: ```bash # Get gain rosservice call /camera/get_color_gain '{}' rosservice call /camera/get_left_ir_gain '{}' # Setting the gain (be careful with the data range; the following example may not be correct) rosservice call /camera/set_color_gain "{data: 200}" rosservice call /camera/set_left_ir_gain "{data: 200}" ``` Set/get (auto) white balance: ```bash rosservice call /camera/set_auto_white_balance "{data: false}" rosservice call /camera/get_auto_white_balance "{data: false}" ``` Turn on/off laser: ```bash rosservice call /camera/set_laser '{data: true}' # Turn on rosservice call /camera/set_laser '{data: false}' # Turn off ``` Save images: ```bash rosservice call /camera/save_images "{}" ``` Save point cloud: ```bash rosservice call /camera/save_point_cloud "{}" ``` NOTE: The images are saved under `~/.ros/image` and are only available when the sensor is on. ## Launch Parameters The following launch parameters are available: - `connection_delay`: The delay time in milliseconds for reopening the device. Some devices 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. - `color_width`, `color_height`, `color_fps`: The resolution and frame rate of the color stream. - `left_ir_width`, `left_ir_height`, `left_ir_fps`: The resolution and frame rate of the left IR stream. - `right_ir_width`, `right_ir_height`, `right_ir_fps`: The resolution and frame rate of the right 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_left_ir`: Enables the left IR camera. - `enable_right_ir`: Enables the right IR camera. - `depth_registration`: Enables hardware alignment of the depth frame to the color frame. This field is required when `enable_colored_point_cloud` is set to `true`. - `log_level` for OrbbecSDK controls console log verbosity, with levels `none`, `info`, `debug`, `warn`, `fatal`. Logs save in `~/.ros/Log`. For file logging, adjust `<FileLogLevel>` in `config/OrbbecSDKConfig_v1.0.xml`. - `ordered_pc`: Whether the point cloud should be organized in an ordered grid (`true`) or as an unordered set of points (`false`). - `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`: Only the G330 series is supported. 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 depth HDR function. By merging consecutive depth images of alternating exposure values, we can over come challenges in acquiring depth values for under-illuminated and over-illuminated objects simultaneously. - `sequence_id_filter_id`: This filter is used jointly with depth HDR function and outputs only the sequence with 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 an