OrbbecSDK ROS1 Wrapper v2

English | 中文

Introduction

The OrbbecSDK ROS1 Wrapper v2 provides seamless integration of Orbbec cameras with the ROS 1 ecosystem. It supports ROS1 Kinetic, Melodic, and Noetic distributions.

• Default branch: v2-main
• For legacy OpenNI devices: use the main branch
• For users in China: use the Gitee repository

branch selection

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

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.

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

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

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
cd OrbbecSDK_ROS1
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 the topic you want to display

• List topics / services/ parameters ( On terminal 3)

rostopic list
rosservice list
rosparam list

Echo a topic

rostopic echo /camera/depth/camera_info

Call a service

rosservice call /camera/get_sdk_version "{}"

For more usage details, please refer to the official OrbbecSDK ROS documentation

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.

Products List	Recommended FW Version	Launch File
Astra Mini Pro	2.0.03	astra.launch
Astra Mini S Pro	2.0.03	astra.launch
Gemini 435Le	1.3.6	gemini435_le.launch
Gemini 330 series	1.6.00	gemini_330_series.launch
Gemini 215	1.0.9	gemini210.launch
Gemini 210	1.0.9	gemini210.launch
Gemini 2	1.4.98	gemini2.launch
Gemini 2 L	1.5.2	gemini2L.launch
Femto Bolt	1.1.2	femto_bolt.launch
Femto Mega	1.3.1	femto_mega.launch
Femto Mega I	2.0.4	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.

Tutorial

Please refer to the official OrbbecSDK ROS documentation.

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.

Other useful links

• OrbbecSDK ROS documentation
• OrbbecSDK v2
• Gemini 330 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

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.