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OrbbecSDK ROS v2

Important

Welcome to the OrbbecSDK ROS Wrapper v2. Before you begin using this version of ROS Wrapper, it's crucial to check the following device support list to verify the compatibility.

OrbbecSDK ROS Wrapper provides seamless integration of Orbbec cameras with ROS environment. It supports ROS Kinetic, Melodic, and Noetic distributions. With a major update in October 2024, we release the OrbbecSDK ROS1 Wrapper v2 connected to the open source OrbbecSDK v2 with enhanced flexibility and extensibility. This update ensures compatibility with all Orbbec USB products adhering to UVC standard. However, it no longer supports Orbbec's traditional OpenNI protocol devices. We strongly encourage you to use the v2-main branch if your device is supported.

If you are a user in China, it is recommended to use gitee Repo.

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 335 Full maintenance Recommended for new designs
Gemini 336 Full maintenance Recommended for new designs
Gemini 335L Full maintenance Recommended for new designs
Gemini 336L Full maintenance Recommended for new designs
Gemini 335Lg Not supported Recommended for new designs
Gemini 335Le Not supported Recommended for new designs
Gemini 330 Full maintenance Recommended for new designs
Gemini 330L Full maintenance 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
Femto Femto Bolt Full maintenance Recommended for new designs
Femto Mega Full maintenance Recommended for new designs
Femto Mega I Full maintenance To be supported
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 Pro Full maintenance Not supported

Note: If you do not find your device, please contact our FAE or sales representative for help.

Definition:

  1. Recommended for new designs: we will provide full supports with new features, bug fix and performance optimization;
  2. Full maintenance: we will provide bug fix support;
  3. Limited maintenance: we will provide critical bug fix support;
  4. Not supported: we will not support specific device in this version;
  5. To be supported: we will add support in the near future.

Table of Contents

Install Dependencies

ROS

  • Please refer directly to the ROS wiki for installation instructions.

Other Dependencies

  • Install dependencies (be careful with your ROS distribution):

    # 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-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
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 \
libdw-dev

Supported Devices

Currently, the following devices are supported by the OrbbecSDK ROS 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.

The following devices are supported by the OrbbecSDK ROS Wrapper.

Product List Minimal Firmware Version Launch File
Gemini 435Le 1.2.04 gemini435_le.launch
Gemini 335 1.2.20 gemini_330_series.launch
Gemini 336 1.2.20 gemini_330_series.launch
Gemini 335L 1.2.20 gemini_330_series.launch
Gemini 336L 1.2.20 gemini_330_series.launch
Gemini 335Lg 1.3.46 gemini_330_series.launch
Gemini 335Le 1.5.31 gemini_330_series.launch
Gemini 330 1.2.20 gemini_330_series.launch
Gemini 330L 1.2.20 gemini_330_series.launch
Gemini 2 1.4.92 gemini2.launch
Gemini 2 L 1.4.53 gemini2L.launch
Femto Bolt 1.1.2 femto_bolt.launch
Femto Mega 1.3.0 femto_mega.launch
Astra 2 2.8.20 astra2.launch

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.

Create ROS Workspace and Build

Create a ROS workspace (if you don't have one):

mkdir -p ~/ros_ws/src

Get the source code:

cd ~/ros_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS1.git
roscd orbbec_camera
git checkout v2-main
git branch  #Check whether the branch switch is successful

Build the package:

cd ~/ros_ws
catkin_make

Install udev rules:

cd ~/ros_ws
source ./devel/setup.bash
roscd orbbec_camera
sudo bash ./scripts/install_udev_rules.sh

Start the Camera

In terminal 1:

source ./devel/setup.bash
roslaunch orbbec_camera gemini_330_series.launch

In terminal 2:

source ./devel/setup.bash
rviz

Select Topics and Control the Camera

Check topics, services, and parameters (Open a new terminal):

rostopic list
rosservice list
rosparam list

Get camera parameters(Must start stream first):

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):

rostopic echo /camera/depth/camera_info
rostopic echo /camera/color/camera_info

Check device information:

rosservice call /camera/get_device_info "{}"

Get the SDK version (Includes firmware and Orbbec SDK versions):

rosservice call /camera/get_sdk_version "{}"

Set/get (Auto) exposure:

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 auto exposure ROI:

#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.

#Set color ROI
rosservice call /camera/set_color_ae_roi '{data_param:[0,1279,0,719]}'

#Set depth ROI
rosservice call /camera/set_depth_ae_roi '{data_param:[0,847,0,479]}'

Set/get gain:

# 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:

rosservice call /camera/set_auto_white_balance "{data: false}"
rosservice call /camera/get_auto_white_balance "{data: false}"

Turn on/off laser:

rosservice call /camera/set_laser '{data: true}' # Turn on
rosservice call /camera/set_laser '{data: false}' # Turn off

Save images:

rosservice call /camera/save_images "{}"

Save point cloud:

rosservice call /camera/save_point_cloud "{}"

NOTE: The images are saved under ~/.ros/image and are only available when the sensor is on.

Usage

Launch Parameters

For the entire list of parameters type rosparam list.

Modify parameters when launching launch:

roslaunch orbbec_camera gemini_330_series.launch enable_color:=true color_width:=640 color_height:=480
  • [color|depth|left_ir|right_ir|ir]_width,[color|depth|left_ir|right_ir|ir]_height,[color|depth|left_ir|right_ir|ir]_fps,[color|depth|left_ir|right_ir|ir]_format
    • The resolution and frame rate of the sensor stream
    • Run rosrun orbbec_camera list_camera_profile_mode_node to get the list of supported profiles
    • For example:color_width:=640 color_height:=480 color_fps:=30 color_format:=MJPG depth_width:=640 depth_height:=480 depth_fps:=30 depth_format:=Y16 ir_width:=640 ir_height:=480 ir_fps:=30 ir_format:=Y8
  • enable_color_auto_exposure_priority
    • Enable the Color auto exposure priority
    • For example:enable_color_auto_exposure_priority:=true
  • enable_color_auto_exposure
    • Enable the Color auto exposure
    • For example:enable_color_auto_exposure:=true
  • color_exposure
    • Set the Color exposure
    • For example:color_exposure:=30
    • Note:To ensure that the color_exposure setting takes effect, make sure to set enable_color_auto_exposure:=false.
  • color_gain
    • Set the Color gain
    • For example:color_gain:=16
    • Note:To ensure that the color_gain setting takes effect, make sure to set enable_color_auto_exposure:=false.
  • enable_depth_auto_exposure_priority
    • Enable the Depth auto exposure priority
    • For example:enable_depth_auto_exposure_priority:=true
  • depth_brightness
    • Set the Depth brightness
    • For example:depth_brightness:=100

......

Explanation of parameters.Reference:Launch parameters documentation

All available service for camera control

For the entire list of service rosservice list.

  • /camera/get_device_info
rosservice call /camera/get_device_info
  • /camera/get_sdk_version
rosservice call /camera/get_sdk_version
  • /camera/reboot_device
rosservice call /camera/reboot_device

......

Explanation of service.Reference:All available service fo camera control documentation

All available topics

For the entire list of topic rostopic list.

  • /camera/color/camera_info : The color camera info.
  • /camera/color/image_raw: The color stream image.
  • /camera/depth/camera_info: The depth stream info.
  • /camera/depth/image_raw: The depth stream image.

......

Explanation of topic.Reference:All available topics documentation

Network device enumeration

When using Femto Mega and Gemini 335Le, you can use the network to connect the device.

Femto Mega:

roslaunch orbbec_camera femto_mega.launch enumerate_net_device:=true

Gemini 335Le:

roslaunch orbbec_camera gemini_330_series.launch enumerate_net_device:=true

Gemini 435Le:

roslaunch orbbec_camera gemini435_le.launch enumerate_net_device:=true

For more information about network device enumeration.Reference:Network device documentation

Multi-Camera

When you have multiple cameras, you can activate all of them at the same time.

For more information about Multi camera.Reference:Multi camera documentation

Check which profiles the camera supports

rosrun orbbec_camera list_camera_profile_mode_node

Predefined presets

About the mode settings of Predefined presets.Reference:Predefined presets documentation

Optional depth presets

You can pass the firmware path of the Optional preset into the preset_firmware_path launch param

roslaunch orbbec_camera gemini_330_series.launch preset_firmware_path:=/home/orbbec/G336X_Dimensioning_Accurate_0.0.1_78C743B9.bin,/home/orbbec/G336X_Dimensioning_Dense_0.0.1_4E70D227.bin device_preset:=G336X Dimensioning Dense

Depth work mode switch

Gemini 2, Gemini 2 L,and Femto and Femto Bolt cameras setting depth work mode.Reference:Depth work mode switch documentation

Configuration of depth NFOV and WFOV modes

For the Femto Mega and Femto Bolt devices setting NFOV and WFOV modes.Reference:Configuration of depth NFOV and WFOV modes documentation

Advanced Usage

Use V4L2 backend

Setting uvc_backend

Note: The V4L2 backend is not enabled by default.

  • Example:
roslaunch orbbec_camera gemini_330_series.launch uvc_backend:=v4l2

Building a Debian Package

If you want to build the Debian package of OrbbecSDK_ROS.Reference:Building a Debian Package documentation

Use Nodelet

For users who need to use nodelet, please refer to gemini_330_series_nodelet.launch

Examples

To explore practical examples and gain insight into how to use the camera in ROS, please navigate to the Examples section for more information.

Frequently Asked Questions

Unexpected Crash

If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: ~/.ros/Log/camera_crash_stack_trace_xx.log. Additionally, regardless of whether the camera node crashes or not, the OrbbecSDK will always generate a log file: ~/.ros/Log/OrbbecSDK.log.txt, which contains detailed records of the SDK's operations.

Please send these log files to the support team or submit them to a GitHub issue for further assistance.

No Data Stream from Multiple Cameras

Insufficient Power Supply:

  • Ensure that each camera is connected to a separate hub.
  • Use a powered hub to provide sufficient power to each camera.

High Resolution:

  • Try lowering the resolution to resolve data stream issues.

Increase usbfs_memory_mb Value:

  • Increase the usbfs_memory_mb value to 128MB (this is a reference value and can be adjusted based on your system’s needs) by running the following command:
    echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
  • To make this change permanent, check this link.

Compilation Failure Due to OpenCV Version Issues

In some cases, you may have multiple versions of OpenCV on your host, which can lead to compilation failures. You can resolve this by specifying the OpenCV version. Find the CMakeLists.txt file in the cmake folder and locate the following code:

find_package(OpenCV REQUIRED)

Either add OpenCV_dir or specify the version before it:

find_package(OpenCV 4.2.0 REQUIRED)

Or:

set(OpenCV_DIR "/path_to_your_opencv_dir")
find_package(OpenCV REQUIRED)

Additional Troubleshooting

  • If you encounter other issues, set the log_level parameter to debug. This will generate an SDK log file in the running directory: ~/.ros/Log/OrbbecSDK.log.txt. Please provide this file to the support team for further assistance.
  • If firmware logs are required, set enable_heartbeat to true to activate this feature.

Why Are There So Many Launch Files?

  • Different cameras have varying default resolutions and image formats.
  • To simplify usage, each camera has its own launch file.

Other useful links

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

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.

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OrbbecSDK ROS wrapper

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