Welcome to DOFBOT-Ultra repository

Dabai_DCW2 Camera

Please ensure that the web control program backend process is not running in the background. To close it, refer to the [Get Started Quickly - 2. Access the Terminal] section in [Disable the Auto-Start Web Control Backend Process]. After closing, please restart DofbotUltra!!!

Before starting this function, you need to close the web control program backend process.

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 motherboard 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, when the terminal prints the above content, it means the camera is running normally and startup is successful. You can view the topics published by the camera node using the following command:

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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 camera's three images and point cloud. Open a new terminal and enter:

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rviz2

After rviz starts, configure rviz according to the instructions in the figures below:

Change the Fixed Frame 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 color image will be displayed as follows:

Add Depth Image Display

Click Add, then click By topic, select /depth/image_raw/Image, and finally click OK to confirm. The depth image will be displayed as follows:

Add Infrared Image Display

Click Add, then click By topic, select /ir/image_raw/Image, and finally click OK to confirm. The infrared image will be displayed as follows:

View Depth Point Cloud Data

Click Add, then click By topic, select /depth/points/PointCloud2, and finally click OK to confirm. The depth point cloud image will be displayed as follows:

If you cannot see the point cloud, please check if Fixed Frame is set to camera_link.

View Colored Point Cloud Data

Click Add, then click By topic, select /depth_registered/points/PointCloud2, and finally click OK to confirm. The colored point cloud image will be displayed as follows:

3. Camera Parameters

3.1 Hardware Parameters

3.2 Camera Parameter Retrieval and Settings

The camera's initialization parameters are already set in the launch file that was started. The launch file path is:

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Raspberry Pi: /home/yahboom/dofbot_ultra_ws/src/OrbbecSDK_ROS2/orbbec_camera/launch/dabai_dcw2.launch.py
RDK: /home/sunrise/dofbot_ultra_ws/src/OrbbecSDK_ROS2/orbbec_camera/launch/dabai_dcw2.launch.py

The contents are as follows:

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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 is running, we can use some services to retrieve or set certain parameters. For example, to get the exposure value and set the exposure value, first query 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, after the camera node starts, it provides the following services:

3.2.1 Camera Parameter Retrieval

Taking getting the exposure value as an example, call the service and 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 Setting

Taking the auto exposure value switch as an example, call the service and 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 environment settings.