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5. Advanced

This section explores the advanced usage of Orbbec SDK ROS2, specifically tailored for product application scenarios. It offers comprehensive guidance on how to fully harness the SDK’s capabilities, enabling you to unlock the potential of your robotics projects. Discover the optimal ways to enhance your projects using the cutting-edge features provided by Orbbec SDK ROS2 environments.

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This Section Covers:

• 5.1. Multiple cameras synchronization
  • 5.1.1. Preparation
  • 5.1.2. Check the camera usb port
  • 5.1.3. Configure multiple cameras synced
  • 5.1.4. Run multicamera_synced.launch.py
  • 5.1.5. Advanced sync parameters
  • 5.1.6. GMSL camera example
  • 5.1.7. suggestions for multiple cameras synchronization
• 5.2. Component node
  • 5.2.1. Creating a component node
  • 5.2.2. Loading a single node into a component container
  • 5.2.3. Loading a launch.py into a component container
• 5.3. Zero-copy communications
  • 5.3.1. Efficient intra-process communication:
  • 5.3.2. Zero-copy example
  • 5.3.3. Manually loading multiple components into the same process
  • 5.3.4. Using a launch file
  • 5.3.5. Limitations
• 5.4. GDB debug
  • 5.4.1. Config debug
  • 5.4.2. Use xterm terminal to open gdb debugging
• 5.5. Backward ros
  • 5.5.1. Add backward_ros as a dependency:
  • 5.5.2. Configure CMakeLists.txt:
  • 5.5.3. Build your project with debug information:
  • 5.5.4. Run your node:
  • 5.5.5. Example backward_ros
• 5.6. CycloneDDS tuning
• 5.7. FastDDS tuning
  • 5.7.1. Adjusting system parameters
  • 5.7.2. 2. FastDDS configuration

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