奥比中光 Gemini 336L - 调试记录（Ubuntu 24.04）

1. 按照Readme安装ROS2 SDK：

https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main

• 开启ROS2自动补全：

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

• 安装SDK：

sudo apt update
apt list | grep orbbec
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description

• 修改udev权限：

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

2. 下载ORBBEC VIEWER：

https://www.orbbec.com/developers/orbbec-sdk/

3. 通过USB连接设备，运行ORBBEC VIEWER，在顶栏选中若干视图进行查看：

4. 测试ROS2 SDK：

ros2 run orbbec_camera list_devices_node

输出：

USB port_id: 2-2-2
Modified USB port_id: 2-2
[INFO] [1768203886.203032865] [list_device_node]: - Name: Orbbec Gemini 336L, PID: 0x0807, SN/ID: CPC7B53000AG, Connection: USB3.2
[INFO] [1768203886.203066554] [list_device_node]: serial: CPC7B53000AG
[INFO] [1768203886.203074780] [list_device_node]: usb port: 2-2
[INFO] [1768203886.203091584] [list_device_node]: usb connect type: USB3.2

ros2 launch orbbec_camera gemini_330_series.launch.py

输出若干调试信息。

检查ROS2话题：

❯ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressedDepth
/camera/depth/metadata
/camera/depth/points
/camera/depth_filter_status
/camera/device_status
/diagnostics
/parameter_events
/rosout
/tf
/tf_static

使用image view查看图像及压缩图像等话题：

5. 修改启动参数，开启IMU：（4.1. 启动参数 — OrbbecSDK V2 ROS2 封装 文档）

ros2 launch orbbec_camera gemini_330_series.launch.py enable_sync_output_accel_gyro:=true

❯ ros2 topic list
/camera/accel/imu_info
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/theora
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressedDepth
/camera/depth/metadata
/camera/depth/points
/camera/depth_filter_status
/camera/device_status
/camera/gyro/imu_info
/camera/gyro_accel/sample
/clicked_point
/diagnostics
/goal_pose
/initialpose
/parameter_events
/rosout
/tf
/tf_static

读取IMU数据：

ros2 topic echo /camera/gyro_accel/sample

输出数据格式：

header:stamp:sec: 1768209990nanosec: 778451968frame_id: camera_accel_gyro_optical_frame
orientation:x: 0.0y: 0.0z: 0.0w: 1.0
orientation_covariance:
- -1.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
- 0.0
angular_velocity:x: 0.011706476099789143y: 0.0021284501999616623z: -0.00478901294991374
angular_velocity_covariance:
- 0.01
- 0.0
- 0.0
- 0.0
- 0.01
- 0.0
- 0.0
- 0.0
- 0.01
linear_acceleration:x: 0.821850597858429y: -9.758130073547363z: 0.3576904535293579
linear_acceleration_covariance:
- 0.01
- 0.0
- 0.0
- 0.0
- 0.01
- 0.0
- 0.0
- 0.0
- 0.01

6. RViz调试

在RViz中可以查看TF、点云等数据

7. docker调试

运行Ubuntu20.04 ROS noetic的docker环境测试ROS1 SDK，运行正常：