OrbbecSDK ROS2 Wrapper

The orbbec_camera package provides several sample launch configurations and tools to demonstrate different camera interfaces and performance testing capabilities. Depending on your hardware (Femto Mega, Gemini 335Le, or Gemini 335Lg) and your goal (benchmarking or synchronization verification), you can use the following examples:

| Name | Description | Experience Level |
| :--- | :--- | :--- |
| Net_camera | How to use Net camera in OrbbecSDK_ROS2 (Only Femto Mega and Gemini 335Le) | ⭐️ |
| Gmsl_camera | How to use GMSL camera (Only Gemini 335Lg) | ⭐️ |
| Benchmark | Benchmark the performance of various OrbbecSDK_ROS2 camera configurations | ⭐️⭐️ |
| Multi_camera_synced_verification_tool | Verify the synchronization accuracy of multi-camera synchronization | ⭐️⭐️⭐️ |

The config_frameMatch.py tool categorizes synchronized multi-camera data into three distinct folders based on frame matching and timing thresholds:

• matchFrames: Contains data where frames are successfully constrained within a half-frame interval.
• notMatchFrames: Contains unmatched data that is not constrained within a half-frame interval.
• abnormal: Contains data within a group that exceeds the configured tspRangeThreshold setting.

The repository provides two main branches depending on your hardware and design requirements:

• v2-main: The default branch. Recommended for new designs and modern Orbbec devices (e.g., Gemini 430, Gemini 301, Gemini 330, Femto, Astra 2, and LiDAR devices).
• main (v1.x): Use this branch for legacy OpenNI devices or if you are maintaining older projects.

Note: LiDAR devices require version v2.6.3 or later. If you are migrating an existing project from the main branch to v2-main, refer to the official migration guide.

Orbbec provides two main branches for the ROS 2 wrapper. Choosing the correct one is critical for device support:

• v2-main branch (v2.x): The default recommendation for new designs. It supports newer product series like Gemini 430, Gemini 301, Gemini 330, Gemini 2, Femto, and Astra 2.
• main branch (v1.x): Use this branch if you are using older OpenNI compatible devices that are not supported by the v2-main branch.

If you are migrating an existing project from the main branch to the v2-main branch, refer to the official Migration Guide.

To interact with an Orbbec camera using the Orbbec SDK in ROS2, you can run the 435le_example_node. This node provides an interactive menu in the terminal to manage camera parameters, streams, and device information.

After building your workspace, execute the following command:

ros2 run orbbec_camera 435le_example_node

Once running, you can select features from the following menu:

1. Write camera parameters
2. Read camera parameters
3. Enable camera streams
4. Disable camera streams
5. Get device info
6. Show device status
7. Set Color AE ROI
8. Exit

To allow the Orbbec camera to be correctly recognized by the system without requiring root privileges for every operation, you must install the udev rules.

For 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 trigger

For Source Installation:

cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

Warning: If you skip this step, device access will fail due to permission issues unless you run your ROS 2 nodes with sudo.

# For Source Installation
cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger

To build the wrapper from source in a colcon workspace, follow these steps:

1. Create a workspace and clone the repository into the src directory:

   mkdir -p ~/ros2_ws/src
   cd ~/ros2_ws/src
   git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
   cd OrbbecSDK_ROS2
   git checkout v2-main

2. Build the workspace using `colcon` with Release mode enabled:
   ```bash
cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release

Before installing the OrbbecSDK ROS2 wrapper, ensure ROS 2 is installed and then install the following system and ROS 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 libgl1 libgoogle-glog-dev

To enable ROS 2 auto-completion, run:

eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"