OrbbecDaBai DCL 使用和ROS2话题发布

系统：Ubuntu22.04
ROS：ROS2 humble
相机型号：Orbbec® DaBai DCL™

1.初始环境准备

奥比相机ROS官网：https://github.com/orbbec/OrbbecSDK_ROS2

PS：由于官网最新的ROS2驱动2.2.3不支持DCL，所以我用的之前验证过的版本驱动

• 1.准备好系统和ROS2版本
• 2.插入相机，这里以DaBai DCL型号为例，先看一下系统是否识别到了相机

~$ lsusb
Bus 003 Device 003: ID 0c45:6a14 Microdia Integrated_Webcam_HD
Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 004: ID 8087:0026 Intel Corp. AX201 Bluetooth
Bus 004 Device 002: ID 2bc5:0701 Orbbec 3D Technology International, Inc Orbbec(R) DaBai DCL(TM)
Bus 004 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 003 Device 002: ID 046d:c52b Logitech, Inc. Unifying Receiver
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub
Bus 003 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

• 3.下载驱动

mkdir -p orbbec_camera_ws/src
cd orbbec_camera_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS2

2.启动DaBai DCL相机

• 1.编译

cd orbbec_camera_ws
source /opt/ros/humble/setup.bash
colcon build

• 2.启动DCL相机

$ source install/setup.bash
$ ros2 launch orbbec_camera dabai_dcl.py
[INFO] [launch]: All log files can be found below /home/zzw/.ros/log/2025-03-17-13-34-21-154318-zzw-9250
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [9262]
[component_container-1] [INFO] [1742189661.504061821] [camera.camera_container]: Load Library: /home/zzw/project/orbbec_camera_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1742189661.556941942] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1742189661.556992153] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [03/17 13:34:21.560668][info][9262][Context.cpp:69] Context created with config: /home/zzw/project/orbbec_camera_ws/install/orbbec_camera/share/orbbec_camera/config/OrbbecSDKConfig_v1.0.xml
[component_container-1] [03/17 13:34:21.560681][info][9262][Context.cpp:74] Context work_dir=/home/zzw/project/orbbec_camera_ws
[component_container-1] [03/17 13:34:21.560684][info][9262][Context.cpp:77] 	- SDK version: 1.9.6
[component_container-1] [03/17 13:34:21.560687][info][9262][Context.cpp:78] 	- SDK stage version: main
[component_container-1] [03/17 13:34:21.560692][info][9262][Context.cpp:82] get config EnumerateNetDevice:false
[component_container-1] [03/17 13:34:21.560703][info][9262][LinuxPal.cpp:39] createObPal: create LinuxPal!
[component_container-1] [03/17 13:34:21.742234][info][9262][LinuxPal.cpp:116] Create PollingDeviceWatcher!
[component_container-1] [03/17 13:34:21.742350][info][9262][DeviceManager.cpp:15] Current found device(s): (1)
[component_container-1] [03/17 13:34:21.742376][info][9262][DeviceManager.cpp:24] 	- Name: DaBai DCL, PID: 0x0701, SN/ID: AUG5630002N, Connection: USB3.0
[component_container-1] [INFO] [1742189661.744337546] [camera.camera]: Connecting to the default device
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [ERROR] [1742189661.804078270] [camera.camera]: Failed to setup devices: Request failed, device response with error, errorCode: 2, msg: 
[component_container-1] [INFO] [1742189661.808921520] [camera.camera]:  stream depth is enabled - width: 640, height: 400, fps: 15, Format: OB_FORMAT_Y14
[component_container-1] [INFO] [1742189661.809006240] [camera.camera]:  stream ir is enabled - width: 640, height: 400, fps: 15, Format: OB_FORMAT_Y8
[component_container-1] [INFO] [1742189661.809134540] [camera.camera]:  stream color is enabled - width: 640, height: 360, fps: 15, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1742189661.839940554] [camera.camera]: set align mode ALIGN_D2C_HW_MODE.
[component_container-1] [INFO] [1742189661.839972109] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1742189661.839987301] [camera.camera]: Stream depth width: 640 height: 400 fps: 15 format: Y14
[component_container-1] [INFO] [1742189661.840000636] [camera.camera]: Enable ir stream
[component_container-1] [INFO] [1742189661.840010709] [camera.camera]: Stream ir width: 640 height: 400 fps: 15 format: Y8
[component_container-1] [INFO] [1742189661.840020402] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1742189661.840029419] [camera.camera]: Stream color width: 640 height: 360 fps: 15 format: MJPG
[component_container-1] [INFO] [1742189661.879979163] [camera.camera]: start accel stream with range: 4g,rate:100hz, and start gyro stream with range:500dps,rate:100hz
[component_container-1] [INFO] [1742189661.880106794] [camera.camera]: Device Dabai DCL connected
[component_container-1] [INFO] [1742189661.880129914] [camera.camera]: Serial number: AUG5630002N
[component_container-1] [INFO] [1742189661.880143429] [camera.camera]: Firmware version: 1.4.22
[component_container-1] [INFO] [1742189661.880156498] [camera.camera]: Hardware version: 1.0
[component_container-1] [INFO] [1742189661.880167238] [camera.camera]: device unique id: 4-1-2
[component_container-1] [INFO] [1742189662.098595432] [camera.camera]: transform x 0 y 0 z 0
[component_container-1] [WARN] [1742189662.098932391] [camera.camera]: Publishing dynamic camera transforms (/tf) at 10 Hz

3.查看相机相关数据和话题信息

• 查看相关话题

$ ros2 topic list
/camera/color/camera_info    # 相机基础参数，包括内参和畸变系数
/camera/color/image_raw      # rgb图像
/camera/depth/camera_info
/camera/depth/image_raw      # 深度图像
/camera/depth/points
/camera/depth_registered/points
/camera/gyro_accel/sample
/camera/ir/camera_info
/camera/ir/image_raw
/parameter_events
/rosout
/tf
/tf_static

• rivz2里面可以查看图像和深度信息
  
• 相机参数信息

$ ros2 topic echo /camera/color/camera_info --flow-style
header:
  stamp:
    sec: 1742192610
    nanosec: 395514880
  frame_id: camera_color_optical_frame
height: 360
width: 640
distortion_model: rational_polynomial
d: [45.585975646972656, -101.15734100341797, 0.00017682471661828458, 0.0003843750455416739, 112.65553283691406, 45.40665054321289, -100.78433990478516, 112.83717346191406]
k: [345.20758056640625, 0.0, 322.9708557128906, 0.0, 345.2155456542969, 181.06838989257812, 0.0, 0.0, 1.0]
r: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
p: [345.20758056640625, 0.0, 322.9708557128906, 0.0, 0.0, 345.2155456542969, 181.06838989257812, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
  do_rectify: false

• 深度信息单位是mm

4.相机中的坐标系

https://www.orbbec.com.cn/index/Gemini330/info.html?cate=119&id=90

https://orbbec.github.io/OrbbecSDK/