Enable Orbbec Gemini 335L with orbbec_camera

The orbbec_camera sample application enables the Orbbec Gemini camera 335L to work in RGB or depth mode. This application generates the RGB and depth information by topics. Orbbec-camera is the OrbbecSDK ROS2 Wrapper, which provides seamless integration of Orbbec cameras within the ROS 2 environment.

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Pipeline flow for orbbec_camera

The following figure shows the pipeline of orbbec_camera.

Figure : The orbbec-camera pipeline

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ROS topics used in the orbbec_camera pipeline

ROS topic	Message type	Published/Subscribed by	Description
/camera/color/camera_info	sensor_msgs::msg::CameraInfo	Published by orbbec_camera	Publishes the color camera information.
/camera/color/image_raw	sensor_msgs::msg::Image	Published by orbbec_camera	Publishes the color image.
/camera/depth/camera_info	sensor_msgs::msg::CameraInfo	Published by orbbec_camera	Publishes the depth camera information.
/camera/depth/image_raw	sensor_msgs::msg::Image	Published by orbbec_camera	Publishes the depth image.
/camera/depth/points	sensor_msgs::msg::PointCloud2	Published by orbbec_camera	Publishes the depth point cloud.
/camera/gyro_accel/sample	sensor_msgs::msg::Imu	Published by orbbec_camera	Publishes the gyroscope and accelerometer data.

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Prerequisites

• You have Set up the device according to Set up the environment for running sample applications.
• Connect the USB port of Orbbec Gemini 335L camera.

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Run out-of-the-box orbbec_camera

1. Install the udev rules for the Orbbec camera (one-time prerequisite).
   Note

   • This step ensures proper device permissions and allows the system to access the camera without requiring root privileges.
   • You need to perform this step only once on a newly setup device.
   (ssh) cd /usr/ros/jazzy/share/orbbec_camera/scripts/
   (ssh) bash install_udev_rules.sh
   (ssh) udevadm control --reload-rules && udevadm trigger
   
2. Launch Orbbec camera 335L in the following 3 modes:
   • To set up QIR SDK and ROS2 environment on the device and start the orbbec_camera ROS node with the RGB module enabled, start a new terminal and run the following commands:
     (ssh) source /usr/share/qirp-setup.sh
     (ssh) cd /usr/ros/jazzy/share/orbbec_camera/scripts/
     (ssh) source ../scripts/dds_config.sh
     (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=false enable_depth:=false enable_point_cloud:=false color_width:=848 color_height:=480 color_fps:=30 color_qos:=default
     
   • To set up QIR SDK and ROS2 environment on the device and start the orbbec_camera ROS node with the Depth module enabled, start a new terminal and run the following commands:
     (ssh) source /usr/share/qirp-setup.sh
     (ssh) cd /usr/ros/jazzy/share/orbbec_camera/scripts/
     (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_depth:=true enable_sync:=true enable_point_cloud:=false color_width:=848 color_height:=480 color_fps:=30 depth_fps:=30
     
   • To set up QIR SDK and ROS2 environment on the device and start the orbbec_camera ROS node with the IMU module enabled, start a new terminal and run the following commands:
     (ssh) source /usr/share/qirp-setup.sh
     (ssh) cd /usr/ros/jazzy/share/orbbec_camera/scripts/
     (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=false enable_depth:=false enable_point_cloud:=false color_width:=640 color_height:=360 color_fps:=30 color_qos:=default enable_accel:=true enable_gyro:=true enable_sync_output_accel_gyro:=true