### Install Udev Rules (Binary Installation)

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Installs udev rules for Orbbec cameras when using binary installations. This ensures correct recognition on Linux systems.

```bash
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
```

--------------------------------

### Run the Orbbec Gemini 435Le Example Node

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Execute this command in your ROS 2 environment to launch the example node. A menu will appear to select different features.

```bash
ros2 run orbbec_camera 435le_example_node
```

--------------------------------

### Install OrbbecSDK ROS2 Binary Package

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Installs the pre-compiled Orbbec camera and description ROS 2 packages.

```bash
sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
```

--------------------------------

### Call a ROS 2 Service

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Calls a ROS 2 service to perform an action or retrieve information. This example calls the service to get the SDK version.

```bash
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
```

--------------------------------

### Camera Calibration File Example (YAML Format)

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Example structure for a YAML calibration file, including image dimensions, camera matrix, distortion model, and coefficients.

```yaml
image_width: 1280
image_height: 800
camera_name: orbbec_color
camera_matrix:
  rows: 3
  cols: 3
  data: [614.9613647460938, 0.0, 634.91552734375,
         0.0, 614.65771484375, 391.407470703125,
         0.0, 0.0, 1.0]
distortion_model: plumb_bob
distortion_coefficients:
  rows: 1
  cols: 8
  data: [-0.03131488710641861,
          0.032955970615148544,
          9.096559369936585e-05,
         -0.0003368517500348389,
         -0.01115430984646082,
          0.0, 0.0, 0.0]
rectification_matrix:
  rows: 3
  cols: 3
  data: [1.0, 0.0, 0.0,
         0.0, 1.0, 0.0,
         0.0, 0.0, 1.0]
projection_matrix:
  rows: 3
  cols: 4
  data: [614.9613647460938, 0.0, 634.91552734375, 0.0,
         0.0, 614.65771484375, 391.407470703125, 0.0,
         0.0, 0.0, 1.0, 0.0]
```

--------------------------------

### Install Udev Rules (Build from Source)

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Installs udev rules for Orbbec cameras when building from source. This is a mandatory step for Linux users to avoid permission issues.

```bash
cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
sudo bash install_udev_rules.sh
sudo udevadm control --reload-rules && sudo udevadm trigger
```

--------------------------------

### Build Start Benchmark Shared Library

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines a shared library for starting benchmarks. It includes public include directories and links against common libraries and dependencies.

```cmake
add_library(start_benchmark SHARED tools/start_benchmark.cpp)
target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(start_benchmark ${COMMON_LIBRARIES})
ament_target_dependencies(start_benchmark ${dependencies})
```

--------------------------------

### Install ROS 2 Dependencies

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Installs necessary packages for ROS 2 and OrbbecSDK functionality. Ensure your ROS_DISTRO environment variable is set.

```bash
sudo apt install libgflags-dev nlohmann-json3-dev \
ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev
```

--------------------------------

### Register Start Benchmark Node Component

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Registers the Start Benchmark Node as a ROS 2 component. This allows it to be loaded dynamically by a component manager.

```cmake
rclcpp_components_register_node(
    start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
)
```

--------------------------------

### Install Python Scripts

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Installs Python scripts to a specific destination within the ROS 2 package. These scripts are likely utility or benchmark tools.

```cmake
install(
  PROGRAMS
    scripts/common_benchmark_node.py
    scripts/service_benchmark_node.py
  DESTINATION lib/${PROJECT_NAME}
)
```

--------------------------------

### Orbbec Description CMakeLists.txt Configuration

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_description/CMakeLists.txt

This snippet defines the minimum CMake version, project name, finds the ament_cmake package, and installs necessary files for the orbbec_description ROS 2 package. It ensures that launch files, meshes, URDF models, and RViz configurations are correctly installed.

```cmake
cmake_minimum_required(VERSION 3.5)
project(orbbec_description)

find_package(ament_cmake REQUIRED)

# Install files
install(DIRECTORY launch meshes urdf rviz DESTINATION share/${PROJECT_NAME})

ament_package()
```

--------------------------------

### Add Orbbec Executable Nodes

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines executable nodes for various tools and examples within the Orbbec camera ROS 2 package. These are typically command-line utilities or specific node implementations.

```cmake
add_orbbec_executable(list_devices_node tools/list_devices_node.cpp)
add_orbbec_executable(list_depth_work_mode_node tools/list_depth_work_mode.cpp)
add_orbbec_executable(list_camera_profile_mode_node tools/list_camera_profile.cpp)
add_orbbec_executable(firmware_update_tool tools/firmware_update_tool.cpp)
add_orbbec_executable(ip_config_tool tools/ip_config_tool.cpp)
add_orbbec_executable(set_device_ip tools/ip_config_tool.cpp)
add_orbbec_executable(topic_statistics_node tools/topic_statistics.cpp)
add_orbbec_executable(ob_benchmark_node tools/ob_benchmark.cpp)
add_orbbec_executable(435le_example_node examples/Gemini_435Le_example_node/camera_example_node.cpp)
add_orbbec_executable(service_benchmark_node scripts/service_benchmark_node.cpp)
add_orbbec_executable(image_sync_example_node examples/multi_camera_time_sync/image_sync_example_node.cpp)
```

--------------------------------

### Get Camera Device Information

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Retrieve detailed information about the connected Orbbec camera, including name, serial number, and firmware version.

```bash
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo "{}"
```

--------------------------------

### Get Camera Streams Status

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Call this ROS 2 service to check the current status (enabled/disabled) of the camera streams.

```bash
ros2 service call /camera/get_streams_enable std_srvs/srv/GetBool '{}'
```

--------------------------------

### Declare Launch Arguments for Camera Calibration Files

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Use these launch arguments to specify the paths to external calibration files for the color and IR cameras.

```python
DeclareLaunchArgument('ir_info_url', default_value='file:///home/user/calibration/color.yaml'),
DeclareLaunchArgument('color_info_url', default_value='file:///home/user/calibration/ir.yaml')
```

--------------------------------

### Launch Camera Node and Check Connection

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Launches the Orbbec camera node and checks if the camera is connected. Ensure your ROS 2 environment is sourced.

```bash
source ~/ros2_ws/install/setup.bash
ros2 run orbbec_camera list_devices_node
```

--------------------------------

### List ROS 2 Topics, Services, and Parameters

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Lists available topics, services, and parameters in the ROS 2 system. Useful for understanding the running nodes and their interfaces.

```bash
ros2 topic list
ros2 service list
ros2 param list
```

--------------------------------

### Create Colcon Workspace

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Sets up a new directory structure for your ROS 2 colcon workspace.

```bash
mkdir -p ~/ros2_ws/src
```

--------------------------------

### Enable Camera Streams

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Use this ROS 2 service to enable all camera data streams. Set the 'data' field to 'true'.

```bash
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool "{data: true}"
```

--------------------------------

### Launch Camera with Specific Launch File

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Launches the Orbbec camera using a specific launch file (e.g., gemini_330_series.launch.py). Ensure your ROS 2 environment is sourced.

```bash
source ~/ros2_ws/install/setup.bash
ros2 launch orbbec_camera gemini_330_series.launch.py
```

--------------------------------

### Launch RViz2

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Launches the RViz2 visualization tool. This is typically done in a separate terminal to view camera data.

```bash
source ~/ros2_ws/install/setup.bash
rviz2
```

--------------------------------

### Write Camera Calibration Parameters

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Use this ROS 2 service call to write intrinsic and extrinsic calibration parameters to the camera. Ensure the parameters are correctly formatted.

```bash
ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams 
"{k: [614.9613647460938, 0.0, 634.91552734375,
      0.0, 614.65771484375, 391.407470703125,
      0.0, 0.0, 1.0],
  d: [-0.03131488710641861,
       0.032955970615148544,
       9.096559369936585e-05,
      -0.0003368517500348389,
      -0.01115430984646082,
      0.0, 0.0, 0.0],
  rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
            -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
             0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
  translation: [-0.023897956848144532,
                -9.439220279455185e-05,
                -6.804073229432106e-06]}"
```

--------------------------------

### Echo a ROS 2 Topic

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Prints messages from a specified ROS 2 topic to the console. Use this to inspect the data being published by the camera.

```bash
ros2 topic echo /camera/depth/camera_info
```

--------------------------------

### Read Camera Calibration Parameters

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Call this ROS 2 service to retrieve the currently set camera calibration parameters. MD5 verification is performed during read operations.

```bash
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams "{}"
```

--------------------------------

### Build OrbbecSDK ROS2 from Source

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Compiles the OrbbecSDK ROS2 package from source using colcon with Release build type.

```bash
cd ~/ros2_ws
colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
```

--------------------------------

### Build Multi Save RGBIR Shared Library

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines a shared library for saving RGB and IR images simultaneously from multiple cameras. It includes public include directories and links against common libraries and dependencies.

```cmake
add_library(multi_save_rgbir SHARED tools/multi_save_rgbir.cpp src/utils.cpp)
target_include_directories(multi_save_rgbir PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(multi_save_rgbir ${COMMON_LIBRARIES})
ament_target_dependencies(multi_save_rgbir ${dependencies})
```

--------------------------------

### Monitor Camera Device Status

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Subscribe to this ROS 2 topic to receive real-time updates on the camera's operational status and performance metrics.

```bash
ros2 topic echo /camera/device_status
```

--------------------------------

### Enable ROS 2 Argument Completion

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Enables auto-completion for ros2 and colcon commands in your shell.

```bash
eval "$(register-python-argcomplete3 ros2)"
eval "$(register-python-argcomplete3 colcon)"
```

--------------------------------

### Macro for Adding Orbbec Executable

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines a macro to simplify adding executable targets, including setting include directories, linking libraries, and specifying ament dependencies.

```cmake
macro(add_orbbec_executable TARGET SOURCE)
    add_executable(${TARGET} ${SOURCE})
    target_include_directories(${TARGET} PUBLIC ${COMMON_INCLUDE_DIRS})
    target_link_libraries(${TARGET} ${COMMON_LIBRARIES} ${PROJECT_NAME})
    ament_target_dependencies(${TARGET} ${dependencies})
endmacro()
```

--------------------------------

### Registering ROS 2 Node Component

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Registers the Orbbec camera node as a ROS 2 component using rclcpp_components_register_node.

```cmake
rclcpp_components_register_node(
    ${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
)
```

--------------------------------

### Adding Orbbec Library

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines the main shared library for the Orbbec camera package, setting include directories and linking common libraries.

```cmake
add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})

ament_target_dependencies(${PROJECT_NAME} ${dependencies})
target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(${PROJECT_NAME} ${COMMON_LIBRARIES})
```

--------------------------------

### Clone OrbbecSDK ROS2 Source

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/README.MD

Clones the OrbbecSDK ROS2 repository and checks out the v2-main branch.

```bash
cd ~/ros2_ws/src
git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
cd OrbbecSDK_ROS2
git checkout v2-main
```

--------------------------------

### Conditional Compilation for NV HW Decoder

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Appends source files and include directories when the USE_NV_HW_DECODER option is enabled. This is used for Jetson hardware acceleration.

```cmake
if(USE_NV_HW_DECODER)
    list(APPEND SOURCE_FILES src/jetson_nv_decoder.cpp)
    list(APPEND COMMON_INCLUDE_DIRS ${JETSON_MULTI_MEDIA_API_INCLUDE_DIR} ${LIBJPEG8B_INCLUDE_DIR})
    # append jetson_multimedia_api source files
    list(
        APPEND
        SOURCE_FILES
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBuffer.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElement.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvElementProfiler.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegDecoder.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvJpegEncoder.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvLogging.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvUtils.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2Element.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvV4l2ElementPlane.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoDecoder.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvVideoEncoder.cpp
        ${JETSON_MULTI_MEDIA_API_CLASS_DIR}/NvBufSurface.cpp
    )
endif()
```

--------------------------------

### Set Color Auto-Exposure ROI

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Configure the Region of Interest (ROI) for the camera's auto-exposure settings. The parameters define the left, right, top, and bottom boundaries.

```bash
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
```

--------------------------------

### Register Multi Save RGBIR Node Component

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Registers the Multi Save RGBIR Node as a ROS 2 component. This allows it to be loaded dynamically by a component manager.

```cmake
rclcpp_components_register_node(
    multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node
)
```

--------------------------------

### Build Frame Latency Shared Library

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Defines a shared library for frame latency measurement. It includes public include directories and links against common libraries and dependencies.

```cmake
add_library(frame_latency SHARED tools/frame_latency.cpp)
target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(frame_latency ${COMMON_LIBRARIES})
ament_target_dependencies(frame_latency ${dependencies})
```

--------------------------------

### Disable Camera Streams

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/examples/Gemini_435Le_example_node/README.MD

Use this ROS 2 service to disable all camera data streams. Set the 'data' field to 'false'.

```bash
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool "{data: false}"
```

--------------------------------

### Register Frame Latency Node Component

Source: https://github.com/orbbec/orbbecsdk_ros2/blob/v2-main/orbbec_camera/CMakeLists.txt

Registers the Frame Latency Node as a ROS 2 component. This allows it to be loaded dynamically by a component manager.

```cmake
rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
```

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