Enable Orbbec Gemini 335L with orbbec_camera - Qualcomm Dragonwing Documentation

orbbec_camera is the OrbbecSDK ROS2 Wrapper, which provides integration of Orbbec cameras within the ROS 2 environment.

Pipeline flow for `orbbec_camera`

The following figure shows the pipeline flow for orbbec_camera.

Orbbec Camera 335L feeding the orbbec_camera ROS node, which publishes color, depth, point cloud, and gyro-accel topics. — The orbbec_camera pipeline.

ROS topics used in the `orbbec_camera` pipeline

The following table lists the ROS topics used in the orbbec_camera pipeline, with the message type and a description of each topic.

ROS topic	Type	Description
`/camera/color/camera_info`	`<sensor_msgs::msg::CameraInfo>`	Published by the `orbbec_camera` node.
`/camera/color/image_raw`	`<sensor_msgs::msg::Image>`	Published by the `orbbec_camera` node.
`/camera/depth/camera_info`	`<sensor_msgs::msg::CameraInfo>`	Published by the `orbbec_camera` node.
`/camera/depth/image_raw`	`<sensor_msgs::msg::Image>`	Published by the `orbbec_camera` node.
`/camera/depth/points`	`<sensor_msgs::msg::PointCloud2>`	Published by the `orbbec_camera` node.
`/camera/gyro_accel/sample`	`<sensor_msgs::msg::Imu>`	Published by the `orbbec_camera` node.

Prerequisites

You have set up the device, installed ROS2 Jazzy and the Qualcomm Intelligent Robotics (QIR) SDK on the device according to Install the QIR SDK.
Connect the USB port of Orbbec Gemini 335L camera.

Run out-of-the-box `orbbec_camera`

Install the orbbec_camera packages

Install the packages

sudo apt install ros-jazzy-image-transport-plugins
sudo apt install ros-jazzy-orbbec-camera

Install udev rules

Install the udev rules

sudo cp /opt/ros/jazzy/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && sudo udevadm trigger

Run the orbbec_camera ROS node in one of three modes, each requiring a new terminal window

 source /opt/ros/jazzy/setup.bash
 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

source /opt/ros/jazzy/setup.bash
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

source /opt/ros/jazzy/setup.bash
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

If the image frequency doesn’t meet the set value, perform a fast DDS optimization:a. Perform the steps according to Fast DDS Optimization.b. Restart the camera.

​Pipeline flow for orbbec_camera

​ROS topics used in the orbbec_camera pipeline

​Prerequisites

​Run out-of-the-box orbbec_camera

Pipeline flow for `orbbec_camera`

ROS topics used in the `orbbec_camera` pipeline

Prerequisites

Run out-of-the-box `orbbec_camera`