Welcome to DOFBOT Pro repository

Dabai_DCW2 Camera

Before starting this function, you need to close the large program and APP processes. If you need to restart the large program and APP later, start them from the terminal:

bash ~/dofbot_pro/APP_DOFBOT_PRO/start_app.sh

1. Function Description

After starting the camera, you can obtain RGB color images, Depth images, and IR infrared images.

2. Startup and Operation

2.1. Startup

After connecting the camera to the main board via data cable, open the terminal and enter:

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ros2 launch orbbec_camera dabai_dcw2.launch.py

As shown in the figure below, if the terminal prints the above content, it means the camera is running normally and started successfully. You can use the following command to view the topics published by the camera node. Enter in the terminal:

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ros2 node info /camera/camera

As shown in the figure below, the published color image topic is /camera/color/image_raw, the published depth image topic is /camera/depth/image_raw, the published infrared image topic is /camera/ir/image_raw, and the published point cloud data topic is /camera/depth/points.

2.2. Operation

Use rviz to view the three images and point cloud provided by the camera. Restart a terminal and enter:

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rviz2

After rviz starts, configure rviz according to the following diagram:

Change [Fixed Frame] here to camera_link

Add color image display

Click [Add], then click [By topic], select [/color/image_raw/Image], and finally click [ok] to confirm. The resulting color image is as follows:

Add depth image display

Click [Add], then click [By topic], select [/depth/image_raw/Image], and finally click [ok] to confirm. The resulting depth color image is as follows:

Add infrared image display

Click [Add], then click [By topic], select [/ir/image_raw/Image], and finally click [ok] to confirm. The resulting infrared image is as follows:

View depth point cloud data

Click [Add], then click [By topic], select [/depth/points/PointCloud2], and finally click [ok] to confirm. The resulting depth point cloud image is as follows:

View color point cloud data

Click [Add], then click [By topic], select [/depth_registered/points/PointCloud2], and finally click [ok] to confirm. The resulting color point cloud image is as follows:

3. Camera Parameters

3.1. Hardware Parameter Table

3.2. Camera Parameter Acquisition and Settings

The camera's initialization parameters have been set in the launched launch file. The launch file path is:

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/home/jetson/dofbot_pro_ws/src/OrbbecSDK_ROS2-main/orbbec_camera/launch/dabai_dcw2.launch.py

The content inside is as follows:

​x
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction
from launch_ros.actions import ComposableNodeContainer
from launch_ros.descriptions import ComposableNode
from launch_ros.actions import Node
import os
​
​
def generate_launch_description():
    # Declare arguments
    args = [
        DeclareLaunchArgument('camera_name', default_value='camera'),
        DeclareLaunchArgument('depth_registration', default_value='true'),
        DeclareLaunchArgument('serial_number', default_value=''),
        DeclareLaunchArgument('usb_port', default_value=''),
        DeclareLaunchArgument('device_num', default_value='1'),
        DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
        DeclareLaunchArgument('product_id', default_value=''),
        DeclareLaunchArgument('enable_point_cloud', default_value='true'),
        DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
        DeclareLaunchArgument('cloud_frame_id', default_value=''),
        DeclareLaunchArgument('point_cloud_qos', default_value='default'),
        DeclareLaunchArgument('connection_delay', default_value='100'),
        DeclareLaunchArgument('color_width', default_value='640'),
        DeclareLaunchArgument('color_height', default_value='480'),
        DeclareLaunchArgument('color_fps', default_value='30'),
        DeclareLaunchArgument('color_format', default_value='MJPG'),
        DeclareLaunchArgument('enable_color', default_value='true'),
        DeclareLaunchArgument('flip_color', default_value='false'),
        DeclareLaunchArgument('color_qos', default_value='default'),
        DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
        DeclareLaunchArgument('color_exposure', default_value='-1'),
        DeclareLaunchArgument('color_gain', default_value='-1'),
        DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
        DeclareLaunchArgument('color_white_balance', default_value='-1'),
        DeclareLaunchArgument('color_ae_max_exposure', default_value='-1'),
        DeclareLaunchArgument('color_brightness', default_value='-1'),
        DeclareLaunchArgument('color_sharpness', default_value='-1'),
        DeclareLaunchArgument('color_saturation', default_value='-1'),
        DeclareLaunchArgument('color_contrast', default_value='-1'),
        DeclareLaunchArgument('color_gamma', default_value='-1'),
        DeclareLaunchArgument('color_hue', default_value='-1'),
        DeclareLaunchArgument('depth_width', default_value='640'),
        DeclareLaunchArgument('depth_height', default_value='400'),
        DeclareLaunchArgument('depth_fps', default_value='15'),
        DeclareLaunchArgument('depth_format', default_value='Y11'),
        DeclareLaunchArgument('enable_depth', default_value='true'),
        DeclareLaunchArgument('flip_depth', default_value='false'),
        DeclareLaunchArgument('depth_qos', default_value='default'),
        DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
        # /config/depthfilter/Openni_device.json，need config path.
        DeclareLaunchArgument('depth_filter_config', default_value=''),
        DeclareLaunchArgument('ir_width', default_value='640'),
        DeclareLaunchArgument('ir_height', default_value='400'),
        DeclareLaunchArgument('ir_fps', default_value='15'),
        DeclareLaunchArgument('ir_format', default_value='Y10'),
        DeclareLaunchArgument('enable_ir', default_value='true'),
        DeclareLaunchArgument('flip_ir', default_value='false'),
        DeclareLaunchArgument('ir_qos', default_value='default'),
        DeclareLaunchArgument('ir_camera_info_qos', default_value='default'),
        DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
        DeclareLaunchArgument('ir_exposure', default_value='-1'),
        DeclareLaunchArgument('ir_gain', default_value='-1'),
        DeclareLaunchArgument('publish_tf', default_value='true'),
        DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
        DeclareLaunchArgument('ir_info_url', default_value=''),
        DeclareLaunchArgument('color_info_url', default_value=''),
        DeclareLaunchArgument('log_level', default_value='none'),
        DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
        DeclareLaunchArgument('enable_soft_filter', default_value='true'),
        DeclareLaunchArgument('enable_ldp', default_value='true'),
        DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
        DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
        DeclareLaunchArgument('ordered_pc', default_value='false'),
        DeclareLaunchArgument('use_hardware_time', default_value='false'),
        DeclareLaunchArgument('enable_depth_scale', default_value='true'),
        DeclareLaunchArgument('align_mode', default_value='HW'),
        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
    ]
​
    # Node configuration
    parameters = [{arg.name: LaunchConfiguration(arg.name)} for arg in args]
    # get  ROS_DISTRO
    ros_distro = os.environ["ROS_DISTRO"]
    if ros_distro == "foxy":
        return LaunchDescription(
            args
            + [
                Node(
                    package="orbbec_camera",
                    executable="orbbec_camera_node",
                    name="ob_camera_node",
                    namespace=LaunchConfiguration("camera_name"),
                    parameters=parameters,
                    output="screen",
                )
            ]
        )
    # Define the ComposableNode
    else:
        # Define the ComposableNode
        compose_node = ComposableNode(
            package="orbbec_camera",
            plugin="orbbec_camera::OBCameraNodeDriver",
            name=LaunchConfiguration("camera_name"),
            namespace="",
            parameters=parameters,
        )
        # Define the ComposableNodeContainer
        container = ComposableNodeContainer(
            name="camera_container",
            namespace="",
            package="rclcpp_components",
            executable="component_container",
            composable_node_descriptions=[
                compose_node,
            ],
            output="screen",
        )
        # Launch description
        ld = LaunchDescription(
            args
            + [
                GroupAction(
                    [PushRosNamespace(LaunchConfiguration("camera_name")), container]
                )
            ]
        )
        return ld
​

After the camera runs, we can use some services to get or set some parameters, such as getting the exposure value and setting the exposure value. First, let's check what services the camera node can call. Enter in the terminal:

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ros2 node info /camera/camera

As shown in the figure below, these are some services provided after the camera node starts:

3.2.1. Camera Parameter Acquisition

Taking getting the exposure value as an example, call the service. Enter in the terminal:

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ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'

As shown in the figure below, the obtained exposure value is 100

3.2.2. Camera Parameter Settings

Taking the auto exposure value switch as an example, call the service. Enter in the terminal:

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ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'

Manual setting

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ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 50}'

After setting the auto exposure value, the color image will change the exposure value according to the set environment changes.