This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS.
Command to Start the Node
To start the camera node, execute the following command in your terminal:
roslaunch orbbec_camera gemini_330_series.launch enable_colored_point_cloud:=true enable_left_ir:=true enable_right_ir:=true
This command initiates the camera node and enables the colored point cloud.
Published Topics
Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:
- IMU Data and IMU Information:
camera/accel/imu_infocamera/gyro/imu_infocamera/gyro_accel/sample
- Color Camera Topics:
/camera/color/camera_info/camera/color/image_raw/camera/color/image_raw/compressed/camera/color/image_raw/compressedDepth/camera/color/image_raw/theora/camera/color/metadata
- Depth Camera Topics:
/camera/depth/camera_info/camera/depth/image_raw/camera/depth/image_raw/compressed/camera/depth/image_raw/compressedDepth/camera/depth/image_raw/theora/camera/depth/metadata/camera/depth/points/camera/depth_filter_status/camera/depth_registered/points/camera/depth_to_color/camera/depth_to_left_ir/camera/depth_to_right_ir
- Infrared Camera Topics:
/camera/left_ir/camera_info/camera/left_ir/image_raw/camera/left_ir/image_raw/compressed/camera/left_ir/image_raw/compressedDepth/camera/left_ir/image_raw/theora/camera/left_ir/metadata/camera/right_ir/camera_info/camera/right_ir/image_raw/camera/right_ir/image_raw/compressed/camera/right_ir/image_raw/compressedDepth/camera/right_ir/image_raw/theora/camera/right_ir/metadata
- Miscellaneous Topics:
/diagnostics/parameter_events/rosout/rosout_agg
Visualizing Data in RViz
To view the PointCloud or Image data, use RViz:
- Launch RViz.
- Select the topic you wish to visualize from the list of published topics.
- Add the selected topic to RViz to start viewing the data.
Example Visualizations
Here are examples of how the visualization might appear in RViz:
- PointCloud Visualization
- Image Data Visualization
