# Enable Orbbec Gemini 335L with `orbbec_camera`

The `orbbec_camera` sample application enables the Orbbec Gemini camera 335L to work in RGB or depth mode. This application generates the RGB and depth information by topics.

`orbbec_camera` is the OrbbecSDK ROS2 Wrapper, which provides seamless integration of Orbbec cameras within the ROS 2 environment. The following figure shows the pipeline of `orbbec_camera`.

## Pipeline flow for `orbbec_camera`

The figure shows the pipeline flow for `orbbec_camera`.

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)

**`orbbec_camera` pipeline**

## ROS topics used in the `orbbec_camera` pipeline

ROS topic used in the orbbec_camera pipeline

| ROS topic | Type | Description |
| --- | --- | --- |
| `/camera/color/camera_info` | `<sensor_msgs::msg::CameraInfo>` | Published by the `orbbec_camera` node. |
| `/camera/color/image_raw` | `<sensor_msgs::msg::Image>` | Published by the `orbbec_camera` node. |
| `/camera/depth/camera_info` | `<sensor_msgs::msg::CameraInfo>` | Published by the `orbbec_camera` node. |
| `/camera/depth/image_raw` | `<sensor_msgs::msg::Image>` | Published by the `orbbec_camera` node. |
| `/camera/depth/points` | `<sensor_msgs::msg::PointCloud2>` | Published by the `orbbec_camera` node. |
| `/camera/gyro_accel/sample` | `<sensor_msgs::msg::Imu>` | Published by the `orbbec_camera` node. |

## Prerequisites

- You have set up the device, installed ROS2 Jazzy and QIR SDK on the device according to [Install the QIR SDK](https://docs.qualcomm.com/doc/80-90441-2/topic/2-install-the-qir-sdk.html#install-qir-sdk).
- Connect the USB port of Orbbec Gemini 335L camera.

## Run out-of-the-box `orbbec_camera`

**Steps**

1. Install the `orbbec_camera` packages.

sudo apt install ros-jazzy-image-transport-plugins
        sudo apt install ros-jazzy-orbbec-camera
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2. Install udev rules.

sudo cp /opt/ros/jazzy/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
        sudo udevadm control --reload-rules && sudo udevadm trigger
        Copy to clipboard
3. Test the `orbbec_camera` ROS node in one of three modes, each requiring a new terminal window:

    1. To start the `orbbec_camera` ROS node with the RGB module enabled, run the following commands:

source /opt/ros/jazzy/setup.bash
            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
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    2. To start the `orbbec_camera` ROS node with the Depth module enabled, run the following commands:

source /opt/ros/jazzy/setup.bash
            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
    3. To start the `orbbec_camera` ROS node with the IMU module enabled, run the following commands:

source /opt/ros/jazzy/setup.bash
            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
    4. If the image frequency doesn't meet the set value, perform a fast DDS optimization:

        1. Perform the steps according to [Fast DDS Optimization](https://orbbec.github.io/OrbbecSDK_ROS2/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html).
        2. Restart the camera.

Last Published: Sep 07, 2026

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