{"id":68215,"date":"2026-01-29T21:41:33","date_gmt":"2026-01-29T13:41:33","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/68215.html"},"modified":"2026-01-29T21:41:33","modified_gmt":"2026-01-29T13:41:33","slug":"ros-%e4%b8%8b-%e5%a5%a5%e6%af%94%e4%b8%ad%e5%85%89orbbec-%e5%8f%8c%e7%9b%b8%e6%9c%ba%ef%bc%88%e5%a4%9a%e7%9b%b8%e6%9c%ba%ef%bc%89%e8%b0%83%e8%af%95%e5%ae%9e%e6%88%98%e8%ae%b0%e5%bd%95","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/68215.html","title":{"rendered":"ROS \u4e0b \u5965\u6bd4\u4e2d\u5149Orbbec \u53cc\u76f8\u673a\uff08\u591a\u76f8\u673a\uff09\u8c03\u8bd5\u5b9e\u6218\u8bb0\u5f55"},"content":{"rendered":"<h3>\u4e00\u3001\u73af\u5883\u8bf4\u660e<\/h3>\n<ul>\n<li>\n<p>\u7cfb\u7edf&#xff1a;Ubuntu &#043; ROS&#xff08;Melodic \/ Noetic \u5747\u9002\u7528&#xff09;<\/p>\n<\/li>\n<li>\n<p>\u76f8\u673a\u578b\u53f7&#xff1a;<\/p>\n<ul>\n<li>\n<p>Orbbec Dabai DW2<\/p>\n<\/li>\n<li>\n<p>Orbbec Dabai Max Pro<\/p>\n<\/li>\n<\/ul>\n<\/li>\n<li>\n<p>\u9a71\u52a8\u5305&#xff1a;orbbec_camera\u00a0 \u5b98\u7f51\u6709ROS1\u548cROS2\u7684\u9a71\u52a8\u5305&#xff0c;\u4e0b\u8f7d\u5373\u53ef<\/p>\n<\/li>\n<li>\n<p>\u8fde\u63a5\u65b9\u5f0f&#xff1a;USB<\/p>\n<\/li>\n<\/ul>\n<p>\u672c\u6587\u8bb0\u5f55\u4e00\u6b21\u5b9e\u9645\u8c03\u8bd5 \u4e24\u53f0 Orbbec \u76f8\u673a\u540c\u65f6\u5de5\u4f5c \u7684\u8fc7\u7a0b&#xff0c;\u5305\u542b\u5355\u76f8\u673a\u9a8c\u8bc1\u3001\u591a\u76f8\u673a\u542f\u52a8\u3001\u8bdd\u9898\u68c0\u67e5\u3001RViz \u663e\u793a\u4ee5\u53ca USB \u5e26\u5bbd\u76f8\u5173\u95ee\u9898\u7684\u5904\u7406\u3002<\/p>\n<hr \/>\n<h3>\u4e8c\u3001\u5355\u76f8\u673a\u5206\u522b\u542f\u52a8\u6d4b\u8bd5<\/h3>\n<p>\u5728\u8fdb\u884c\u591a\u76f8\u673a\u542f\u52a8\u4e4b\u524d&#xff0c;\u5fc5\u987b\u786e\u4fdd\u6bcf\u4e00\u53f0\u76f8\u673a\u90fd\u53ef\u4ee5\u5355\u72ec\u6b63\u5e38\u5de5\u4f5c\u3002<\/p>\n<h4>1. \u542f\u52a8 Dabai DW2<\/h4>\n<p>roslaunch orbbec_camera dabai_dw2.launch <\/p>\n<h4>2. \u542f\u52a8 Dabai Max Pro<\/h4>\n<p>roslaunch orbbec_camera dabai_max_pro.launch <\/p>\n<p>\u68c0\u67e5\u70b9&#xff1a;<\/p>\n<ul>\n<li>\n<p>ROS \u8282\u70b9\u662f\u5426\u6b63\u5e38\u542f\u52a8<\/p>\n<\/li>\n<li>\n<p>\u662f\u5426\u6709 depth \/ image \u76f8\u5173\u8bdd\u9898<\/p>\n<\/li>\n<li>\n<p>\u65e0 USB \u6216\u8bbe\u5907\u5360\u7528\u9519\u8bef<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>\u4e09\u3001\u540c\u65f6\u542f\u52a8\u53cc\u76f8\u673a&#xff08;multi_camera&#xff09;<\/h3>\n<p>\u5f53\u5355\u76f8\u673a\u6d4b\u8bd5\u65e0\u95ee\u9898\u540e&#xff0c;\u4f7f\u7528\u591a\u76f8\u673a launch \u6587\u4ef6\u7edf\u4e00\u542f\u52a8\u3002<\/p>\n<p>roslaunch orbbec_camera multi_camera.launch <\/p>\n<hr \/>\n<h3>\u56db\u3001\u68c0\u67e5 ROS \u8bdd\u9898\u662f\u5426\u6b63\u786e<\/h3>\n<p>\u542f\u52a8\u540e&#xff0c;\u67e5\u770b\u7cfb\u7edf\u4e2d\u5df2\u53d1\u5e03\u7684\u8bdd\u9898&#xff1a;<\/p>\n<p>rostopic list <\/p>\n<p>\u9884\u671f\u8f93\u51fa\u5e94\u5305\u542b\u7c7b\u4f3c\u5982\u4e0b\u7ed3\u6784&#xff08;\u53ea\u5c55\u90e8\u5206&#xff0c;\u8f93\u51fa\u5305\u542bob_camera_01\u548c02&#xff09;&#xff1a;<\/p>\n<p>\/ob_camera_01<br \/>\n\/ob_camera_02<br \/>\n\/ob_camera_01\/depth\/image_raw<br \/>\n\/ob_camera_02\/depth\/image_raw <\/p>\n<p>\u8bf4\u660e\u4e24\u53f0\u76f8\u673a\u5df2\u7ecf\u901a\u8fc7\u4e0d\u540c namespace \u6210\u529f\u533a\u5206\u3002<\/p>\n<hr \/>\n<h3>\u4e94\u3001\u4f7f\u7528 RViz \u67e5\u770b\u6df1\u5ea6\u56fe\u50cf<\/h3>\n<h4>1. \u542f\u52a8 RViz<\/h4>\n<p>rviz <\/p>\n<h4>2. \u6dfb\u52a0\u7b2c\u4e00\u53f0\u76f8\u673a\u6df1\u5ea6\u56fe<\/h4>\n<p>Add \u2192 By topic \u2192 \/ob_camera_01 \u2192 depth \u2192 image_raw \u2192 Image <\/p>\n<h4>3. \u6dfb\u52a0\u7b2c\u4e8c\u53f0\u76f8\u673a\u6df1\u5ea6\u56fe<\/h4>\n<p>Add \u2192 By topic \u2192 \/ob_camera_02 \u2192 depth \u2192 image_raw \u2192 Image <\/p>\n<p>\u6b64\u65f6\u53ef\u4ee5\u540c\u65f6\u770b\u5230\u4e24\u8def\u6df1\u5ea6\u753b\u9762&#xff0c;\u9a8c\u8bc1\u591a\u76f8\u673a\u6570\u636e\u662f\u5426\u6b63\u5e38\u53d1\u5e03\u3002<\/p>\n<hr \/>\n<h3>\u516d\u3001\u67e5\u770b\u76f8\u673a\u578b\u53f7\u53ca USB \u7aef\u53e3\u4fe1\u606f<\/h3>\n<p>\u5728\u591a\u76f8\u673a\u573a\u666f\u4e2d&#xff0c;USB \u7aef\u53e3\u7ed1\u5b9a\u662f\u5173\u952e\u3002\u901a\u8fc7\u4ee5\u4e0b\u547d\u4ee4\u67e5\u770b\u5f53\u524d\u8fde\u63a5\u7684\u8bbe\u5907\u4fe1\u606f&#xff1a;<\/p>\n<p>rosrun orbbec_camera list_device_node  <\/p>\n<p>\u8f93\u51fa\u5185\u5bb9\u901a\u5e38\u5305\u542b&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u76f8\u673a\u578b\u53f7<\/p>\n<\/li>\n<li>\n<p>Serial Number<\/p>\n<\/li>\n<li>\n<p>USB Port&#xff08;\u5982 5-1.1\u30012-1.1.1&#xff09;<\/p>\n<\/li>\n<\/ul>\n<p>\u8fd9\u4e9b\u4fe1\u606f\u5c06\u7528\u4e8e multi_camera.launch \u4e2d\u7684\u53c2\u6570\u914d\u7f6e\u3002<\/p>\n<hr \/>\n<h3>\u4e03\u3001multi_camera.launch \u5173\u952e\u914d\u7f6e\u8bf4\u660e<\/h3>\n<h4>1. \u6838\u5fc3\u4fee\u6539\u70b9<\/h4>\n<ul>\n<li>\n<p>camera1_usb_port<\/p>\n<\/li>\n<li>\n<p>camera2_usb_port<\/p>\n<\/li>\n<li>\n<p>launch \u6587\u4ef6\u9700\u4e0e\u5177\u4f53\u76f8\u673a\u578b\u53f7\u5339\u914d<\/p>\n<\/li>\n<\/ul>\n<h4>2. \u793a\u4f8b launch \u6587\u4ef6<\/h4>\n<p>&lt;launch&gt;<br \/>\n&lt;arg name&#061;&#034;camera_name&#034; default&#061;&#034;ob_camera&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;3d_sensor&#034; default&#061;&#034;gemini_330_series&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;camera1_prefix&#034; default&#061;&#034;01&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;camera2_prefix&#034; default&#061;&#034;02&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;camera1_usb_port&#034; default&#061;&#034;5-1.1&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;camera2_usb_port&#034; default&#061;&#034;2-1.1.1&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;device_num&#034; default&#061;&#034;2&#034;\/&gt;<br \/>\n&lt;include file&#061;&#034;$(find orbbec_camera)\/launch\/dabai_dcw2.launch&#034;&gt;<br \/>\n&lt;arg name&#061;&#034;camera_name&#034; value&#061;&#034;$(arg camera_name)_$(arg camera1_prefix)&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;usb_port&#034; value&#061;&#034;$(arg camera1_usb_port)&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;device_num&#034; value&#061;&#034;$(arg device_num)&#034;\/&gt;<br \/>\n&lt;\/include&gt; &lt;include file&#061;&#034;$(find orbbec_camera)\/launch\/dabai_max_pro.launch&#034;&gt;<br \/>\n&lt;arg name&#061;&#034;camera_name&#034; value&#061;&#034;$(arg camera_name)_$(arg camera2_prefix)&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;usb_port&#034; value&#061;&#034;$(arg camera2_usb_port)&#034;\/&gt;<br \/>\n&lt;arg name&#061;&#034;device_num&#034; value&#061;&#034;$(arg device_num)&#034;\/&gt;<br \/>\n&lt;\/include&gt;<br \/>\n&lt;\/launch&gt; <\/p>\n<h4>3. \u6ce8\u610f\u4e8b\u9879<\/h4>\n<ul>\n<li>\n<p>\u4e0d\u540c\u578b\u53f7\u5fc5\u987b\u5f15\u7528\u5bf9\u5e94 launch \u6587\u4ef6<\/p>\n<\/li>\n<li>\n<p>USB \u7aef\u53e3\u5fc5\u987b\u552f\u4e00\u4e14\u4e0e list_device_node \u8f93\u51fa\u4e00\u81f4<\/p>\n<\/li>\n<li>\n<p>camera_name &#043; prefix \u51b3\u5b9a\u6700\u7ec8 ROS namespace<\/p>\n<\/li>\n<\/ul>\n<hr \/>\n<h3>\u516b\u3001USB \u5e26\u5bbd\u4e0e\u7f13\u5b58\u95ee\u9898<\/h3>\n<p>\u5728\u591a\u76f8\u673a\u9ad8\u5206\u8fa8\u7387 \/ \u9ad8\u5e27\u7387\u573a\u666f\u4e0b&#xff0c;USB \u5e26\u5bbd\u548c\u7f13\u5b58\u53ef\u80fd\u6210\u4e3a\u74f6\u9888\u3002<\/p>\n<h4>1. \u67e5\u770b\u5f53\u524d USB \u7f13\u5b58\u5927\u5c0f<\/h4>\n<p>cat \/sys\/module\/usbcore\/parameters\/usbfs_memory_mb <\/p>\n<p>\u793a\u4f8b\u8f93\u51fa&#xff1a;<\/p>\n<p>16 <\/p>\n<h4>2. \u8c03\u6574 USB \u7f13\u5b58\u5927\u5c0f<\/h4>\n<p>\u8be5\u503c\u53ef\u4ee5\u8bbe\u7f6e\u4e3a 16 \u7684\u500d\u6570&#xff0c;\u4f8b\u5982&#xff1a;<\/p>\n<p>sudo sh -c &#039;echo 64 &gt; \/sys\/module\/usbcore\/parameters\/usbfs_memory_mb&#039; <\/p>\n<p>\u8c03\u6574\u540e\u53ef\u6709\u6548\u7f13\u89e3\u591a\u76f8\u673a\u540c\u65f6\u5de5\u4f5c\u65f6\u7684\u4e22\u5e27\u6216\u6570\u636e\u5f02\u5e38\u95ee\u9898\u3002<\/p>\n<hr \/>\n<h3>\u4e5d\u3001\u603b\u7ed3<\/h3>\n<p>\u672c\u6b21\u53cc\u76f8\u673a\u8c03\u8bd5\u7684\u5173\u952e\u70b9\u5305\u62ec&#xff1a;<\/p>\n<ul>\n<li>\n<p>\u5355\u76f8\u673a\u5148\u9a8c\u8bc1&#xff0c;\u518d\u8fdb\u884c\u591a\u76f8\u673a\u6574\u5408<\/p>\n<\/li>\n<li>\n<p>\u4f7f\u7528 USB port \u800c\u975e serial number \u533a\u5206\u8bbe\u5907<\/p>\n<\/li>\n<li>\n<p>launch \u6587\u4ef6\u4e2d namespace \u4e0e\u578b\u53f7\u5fc5\u987b\u660e\u786e<\/p>\n<\/li>\n<li>\n<p>\u591a\u76f8\u673a\u573a\u666f\u4e0b\u9700\u5173\u6ce8 USB \u5e26\u5bbd\u4e0e\u7f13\u5b58\u914d\u7f6e<\/p>\n<\/li>\n<\/ul>\n","protected":false},"excerpt":{"rendered":"<p>\u4e00\u3001\u73af\u5883\u8bf4\u660e \u7cfb\u7edf&#xff1a;Ubuntu  ROS&#xff08;Melodic \/ Noetic \u5747\u9002\u7528&#xff09;  \u76f8\u673a\u578b\u53f7&#xff1a; Orbbec Dabai DW2  Orbbec Dabai Max Pro   \u9a71\u52a8\u5305&#xff1a;orbbec_camera\u00a0 \u5b98\u7f51\u6709ROS1\u548cROS2\u7684\u9a71\u52a8\u5305&#xff0c;\u4e0b\u8f7d\u5373\u53ef  \u8fde\u63a5\u65b9\u5f0f&#xff1a;USB<br \/>\n\u672c\u6587\u8bb0\u5f55\u4e00\u6b21\u5b9e\u9645\u8c03\u8bd5 \u4e24\u53f0 Orbbec \u76f8\u673a\u540c\u65f6\u5de5\u4f5c \u7684\u8fc7\u7a0b&#xff0c;\u5305\u542b\u5355\u76f8\u673a\u9a8c\u8bc1<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[7200,103,5557],"topic":[],"class_list":["post-68215","post","type-post","status-publish","format-standard","hentry","category-server","tag-7200","tag-ubuntu","tag-5557"],"yoast_head":"<!-- This site is optimized with the Yoast SEO plugin v20.3 - https:\/\/yoast.com\/wordpress\/plugins\/seo\/ -->\n<title>ROS \u4e0b \u5965\u6bd4\u4e2d\u5149Orbbec \u53cc\u76f8\u673a\uff08\u591a\u76f8\u673a\uff09\u8c03\u8bd5\u5b9e\u6218\u8bb0\u5f55 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3<\/title>\n<meta name=\"robots\" content=\"index, follow, max-snippet:-1, max-image-preview:large, max-video-preview:-1\" \/>\n<link rel=\"canonical\" href=\"https:\/\/www.wsisp.com\/helps\/68215.html\" \/>\n<meta property=\"og:locale\" content=\"zh_CN\" \/>\n<meta property=\"og:type\" content=\"article\" \/>\n<meta property=\"og:title\" content=\"ROS \u4e0b \u5965\u6bd4\u4e2d\u5149Orbbec \u53cc\u76f8\u673a\uff08\u591a\u76f8\u673a\uff09\u8c03\u8bd5\u5b9e\u6218\u8bb0\u5f55 - \u7f51\u7855\u4e92\u8054\u5e2e\u52a9\u4e2d\u5fc3\" \/>\n<meta property=\"og:description\" content=\"\u4e00\u3001\u73af\u5883\u8bf4\u660e \u7cfb\u7edf&#xff1a;Ubuntu ROS&#xff08;Melodic \/ Noetic \u5747\u9002\u7528&#xff09; \u76f8\u673a\u578b\u53f7&#xff1a; Orbbec Dabai DW2 Orbbec Dabai Max Pro  \u9a71\u52a8\u5305&#xff1a;orbbec_camera\u00a0 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