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add v2-main's readme description
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# Orbbec ROS SDK
# OrbbecSDK ROS

[![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-1.5.12-green)
[![stable](http://badges.github.io/stability-badges/dist/stable.svg)](http://github.com/badges/stability-badges) ![version](https://img.shields.io/badge/version-2.0.9-green)

Orbbec ROS SDK is a wrapper for Orbbec SDK that supports ROS Kinetic, Melodic, and Noetic distributions.
OrbbecSDK_ROS1 is a wrapper for Orbbec SDK that supports ROS Kinetic, Melodic, and Noetic distributions.
It enables smooth integration of Orbbec 3D cameras into ROS projects.

With the major update of the new branch [v2-main](https://github.com/orbbec/OrbbecSDK_ROS1/tree/v2-main) in October 2024, OrbbecSDK_ROS1 is connected to the open source version of [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases), which will make OrbbecSDK_ROS1 more flexible and extensible. This update in v2-main ensures compatibility with all new Orbbec USB products that comply with the UVC standard. However, OrbbecSDK_ROS1 v2 no longer supports Orbbec's traditional OpenNI protocol devices. We encourage you to check whether your device is supported by OrbbecSDK_ROS1 v2 and use the new version if supported.

## Table of Contents

<!-- TOC -->
* [Orbbec ROS SDK](#orbbec-ros-sdk)

* [OrbbecSDK ROS](#orbbec-ros-sdk)
* [Table of Contents](#table-of-contents)
* [Install Dependencies](#install-dependencies)
* [ROS](#ros)
Expand All @@ -34,6 +38,7 @@ It enables smooth integration of Orbbec 3D cameras into ROS projects.
* [Why Are There So Many Launch Files?](#why-are-there-so-many-launch-files)
* [Other useful links](#other-useful-links)
* [License](#license)

<!-- TOC -->

## Install Dependencies
Expand Down Expand Up @@ -244,14 +249,13 @@ The following launch parameters are available:
recognized as USB 2.0.
It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets.
Here is a refined version of the two sentences:
- `enable_heartbeat`: This option enables the heartbeat function. By default, it is set to `false`.
If set to `true`, the camera will send heartbeat messages and generate firmware logs.
- `enable_hardware_reset`: This option enables the hardware reset function. By default, it is set to `false`.
If set to `true`, the camera will reboot upon its first connection.
- `enable_heartbeat`: This option enables the heartbeat function. By default, it is set to `false`.
If set to `true`, the camera will send heartbeat messages and generate firmware logs.
- `enable_hardware_reset`: This option enables the hardware reset function. By default, it is set to `false`.
If set to `true`, the camera will reboot upon its first connection.
**IMPORTANT**: *Please carefully read the instructions regarding software filtering settings at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify these settings.*
## Depth work mode switch:
- Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch
Expand Down Expand Up @@ -356,7 +360,7 @@ launch file's stream argument.
- `/camera/color/camera_info`: The color camera info.
- `/camera/color/image_raw`: The color stream image.
- `/camera/depth/camera_info`: The depth camera info.
- `/camera/depth/camera_info`: The depth camera info.c
- `/camera/depth/image_raw`: The depth stream image.
- `/camera/depth/points`: The point cloud, only available when `enable_point_cloud` is `true`.
- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
Expand Down Expand Up @@ -384,36 +388,18 @@ bash .make_deb.sh
## Launch files
| product serials | launch file |
|-------------------------------------|--------------------------|
| astra+ | astra_adv.launch |
| astra mini/astra mini pro/astra pro | astra.launch |
| astra mini s pro | astra.launch |
| astra2 | astra2.launch |
| astra stereo s | stereo_s_u3.launch |
| astra pro2 | astra_pro2.launch |
| dabai | dabai.launch |
| dabai d1 | dabai_d1.launch |
| dabai dcw | dabai_dcw.launch |
| dabai dw | dabai_dw.launch |
| dabai pro | dabai_pro.launch |
| deeya | deeya.launch |
| femto / femto w | femto.launch |
| femto mega | femto_mega.launch |
| femto bolt | femto_bolt.launch |
| gemini | gemini.launch |
| gemini2 / dabai DCL | gemini2.launch |
| gemini2L | gemini2L.launch |
| gemini e | gemini_e.launch |
| gemini e lite | gemini_e_lite.launch |
| dabai max | dabai_max.launch |
| dabai max pro | dabai_max_pro.launch |
| gemini uw | gemini_uw.launch |
| dabai dcw2 | dabai_dcw2.launch |
| dabai dw2 | dabai_dw2.launch |
| gemini ew | gemini_ew.launch |
| gemini ew lite | gemini_ew_lite.launch |
| gemini 330 series | gemini_330_series.launch |
| product serials | Firmware Version | launch file |
| :-------------: | :--------------: | :----------------------: |
| Astra2 | 2.8.20 | astra2.launch |
| Femto mega | 1.1.7/1.2.7 | femto_mega.launch |
| Femto bolt | 1.0.6/1.0.9 | femto_bolt.launch |
| Ggemini2 | 1.4.60 /1.4.76 | gemini2.launch |
| Gemini2L | 1.4.32 | gemini2L.launch |
| Gemini 335 | 1.2.20 | gemini_330_series.launch |
| Gemini 335L | 1.2.20 | gemini_330_series.launch |
| Gemini 335Lg | 1.3.46 | gemini_330_series.launch |
| Gemini 336 | 1.2.20 | gemini_330_series.launch |
| Gemini 336L | 1.2.20 | gemini_330_series.launch |
**All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models
within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you
Expand All @@ -425,6 +411,7 @@ file, as well as other parameters, to ensure compatibility and optimal performan
For users who need to use nodelet, please refer to `gemini2_nodelet.launch`
## Supported hardware products
Please refer to the OrbbecSDK supported products: [Product Support](https://github.com/orbbec/OrbbecSDK?tab=readme-ov-file#product-support)
## Frequently Asked Questions
Expand All @@ -438,30 +425,41 @@ Please send these log files to the support team or submit them to a GitHub issue
### No Data Stream from Multiple Cameras

**Insufficient Power Supply**:

- Ensure that each camera is connected to a separate hub.
- Use a powered hub to provide sufficient power to each camera.

**High Resolution**:

- Try lowering the resolution to resolve data stream issues.

**Increase usbfs_memory_mb Value**:

- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
by running the following command:

```bash
echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
```

- To make this change permanent, check [this link](https://github.com/OpenKinect/libfreenect2/issues/807).

### Compilation Failure Due to OpenCV Version Issues

In some cases, you may have multiple versions of OpenCV on your host, which can lead to compilation failures. You can resolve this by specifying the OpenCV version. Find the CMakeLists.txt file in the cmake folder and locate the following code:

```cmake
find_package(OpenCV REQUIRED)
```

Either add OpenCV_dir or specify the version before it:

```cmake
find_package(OpenCV 4.2.0 REQUIRED)
```

Or:

```cmake
set(OpenCV_DIR "/path_to_your_opencv_dir")
find_package(OpenCV REQUIRED)
Expand All @@ -480,7 +478,7 @@ find_package(OpenCV REQUIRED)

## Other useful links

- [Orbbec SDK](https://orbbec.github.io/OrbbecSDK/)
- [OrbbecSDK v2](https://github.com/orbbec/OrbbecSDK_v2/releases)
- [Gemini 330 depth presets](https://www.orbbec.com/docs/g330-use-depth-presets/)

## License
Expand Down

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