# 使用 `orbbec_camera` 启用 Orbbec Gemini 335L

`orbbec_camera` 示例应用程序使 Orbbec Gemini 相机 335L 能够在 RGB 或深度模式下工作。此应用程序用 topic 生成 RGB 和深度信息。

Orbbec-camera 是 OrbbecSDK ROS2 的 wrapper，可在 ROS 2 环境中无缝集成 Orbbec 相机。

## `orbbec_camera` 的 pipeline 流

下图显示了 `orbbec_camera` 的 pipeline。

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)

**图：orbbec-camera pipeline**

## `orbbec_camera` pipeline 中使用的 ROS topic

| ROS topic | 消息类型 | 发布/订阅者 | 说明 |
| --- | --- | --- | --- |
| `/camera/color/camera_info` | `sensor_msgs::msg::CameraInfo` | 发布者 `orbbec_camera` | 发布颜色摄像头信息。 |
| `/camera/color/image_raw` | `sensor_msgs::msg::Image` | 发布者 `orbbec_camera` | 发布颜色图像。 |
| `/camera/depth/camera_info` | `sensor_msgs::msg::CameraInfo` | 发布者 `orbbec_camera` | 发布深度摄像头信息。 |
| `/camera/depth/image_raw` | `sensor_msgs::msg::Image` | 发布者 `orbbec_camera` | 发布深度图像。 |
| `/camera/depth/points` | `PointCloud2` | 发布者 `orbbec_camera` | 发布深度点云。 |
| `/camera/gyro_accel/sample` | `sensor_msgs::msg::Imu` | 发布者 `orbbec_camera` | 发布陀螺仪和加速度计数据。 |

## 前提条件

- 已根据 [搭建运行示例应用程序的环境](https://docs.qualcomm.com/doc/80-70022-265Y/topic/quick_start.html#setup-demo-qs) **设置设备**。
- 连接 Orbbec Gemini 335L 摄像头的 USB 端口。

## 运行开箱即用的 `orbbec_camera`

**Orbbec 相机 335L 支持以下 3 个场景：**

- 要在设备上设置 QIR SDK 和 ROS2 环境并启动启用了模块的 `orbbec_camera` ROS 节点 `RGB`，请启动一个新终端并运行以下命令：

> 
> 
> (ssh) source /usr/share/qirp-setup.sh
>         (ssh) cd /usr/share/orbbec_camera/scripts/
>         (ssh) bash install_udev_rules.sh
>         (ssh) udevadm control --reload-rules && udevadm trigger
>         (ssh) source ../scripts/dds_config.sh
>         (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=false enable_depth:=false enable_point_cloud:=false color_width:=848 color_height:=480 color_fps:=30 color_qos:=default
>         Copy to clipboard
- 要在设备上设置 QIR SDK 和 ROS2 环境并启动启用了模块的 `orbbec_camera` ROS 节点 `Depth`，请启动一个新终端并运行以下命令：

> 
> 
> (ssh) source /usr/share/qirp-setup.sh
>         (ssh) cd /usr/share/orbbec_camera/scripts/
>         (ssh) bash install_udev_rules.sh
>         (ssh) udevadm control --reload-rules && udevadm trigger
>         (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_depth:=true enable_sync:=true enable_point_cloud:=false color_width:=848 color_height:=480 color_fps:=30 depth_fps:=30
>         Copy to clipboard
- 要在设备上设置 QIR SDK 和 ROS2 环境并启动启用了模块的 `orbbec_camera` ROS 节点 `IMU`，请启动一个新终端并运行以下命令：

> 
> 
> (ssh) source /usr/share/qirp-setup.sh
>         (ssh) cd /usr/share/orbbec_camera/scripts/
>         (ssh) bash install_udev_rules.sh
>         (ssh) udevadm control --reload-rules && udevadm trigger
>         (ssh) ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=false enable_depth:=false enable_point_cloud:=false color_width:=640 color_height:=360 color_fps:=30 color_qos:=default enable_accel:=true enable_gyro:=true enable_sync_output_accel_gyro:=true
>         Copy to clipboard

Last Published: Nov 11, 2025

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