【导航赛题】 奥比中光Gemini 336L头部相机SDK问题咨询与讨论

[NanYuanChaLiang]

在获取图片和深度信息的时候，尝试使用更新之后的Backend后端，在OH中使用/data/startup_scripts/start_backend.sh启动后端(代码如下)
 

#!/bin/sh

# Kill any existing camera backend processes
pkill -f XLRobotBackend

# Camera serials need some time to reset
sleep 10

# Start the camera backend process
/bin/chroot /data/nvme/oe_rootfs/ /home/XLRobotBackend &

重启整个系统之后，初次运行，能够进行ros2相机图片和深度图收发，但是持续很短的时间之后话题发布频率降为0.03hz左右，非常缓慢。
查看@泡泡泡泡鱼 同学发布的《【导航赛题】头部相机使用求助》一文，受到启发，也尝试在OE上安装并从源码编译了OrbbecSDK_ROS2，但是现在碰到如下问题：

使用如下命令查看可用的相机节点

ros2 run orbbec_camera list_devices_node

得到如下信息
 

[root@localhost camera_ws]# ros2 run orbbec_camera list_devices_node
USB port_id: 4-1.1.1-12
Modified USB port_id: 4-1.1.1
[INFO] [1767358541.877737892] [list_device_node]: - Name: Orbbec Gemini 336L, PID: 0x0807, SN/ID: CPCV5530017Z, Connection: USB3.2
[INFO] [1767358541.877786183] [list_device_node]: serial: CPCV5530017Z
[INFO] [1767358541.877802579] [list_device_node]: usb port: 4-1.1.1
[INFO] [1767358541.877817517] [list_device_node]: usb connect type: USB3.2

证明应该是可以找到Gemini336L的。但是在使用launch启动相机收发节点的时候，一直有最下方报错
启动命令和报错如下：

[root@localhost camera_ws]# ros2 launch orbbec_camera gemini_330_series.launch.py
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-01-02-20-42-45-962393-localhost-5862
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [5881]
[component_container-1] [INFO] [1767357766.644805923] [camera.camera_container]: Load Library: /data/camera_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1767357767.656765484] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<image_publisher::ImagePublisher>
[component_container-1] [INFO] [1767357767.656877214] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1767357767.656902505] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1767357767.693773068] [camera.camera]: Device access mode: Default (4)
[component_container-1] [INFO] [1767357767.695129380] [camera.camera]: setUvcBackendType:libuvc
[component_container-1] [INFO] [1767357770.009478232] [camera.camera]: startDevice called
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1767357770.019751003] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1767357770.257678711] [camera.camera]: Select device cost 237 ms
[component_container-1] [INFO] [1767357770.257848399] [camera.camera]: Try to connect device via USB3.2
[component_container-1] [INFO] [1767357770.258197107] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] OBFormatFromString: ANY
[component_container-1] OBFormatFromString: ANY
[component_container-1] OBFormatFromString: Y16
[component_container-1] OBFormatFromString: ANY
[component_container-1] OBFormatFromString: ANY
[component_container-1] [INFO] [1767357770.270445628] [camera.camera]: current time domain: global
[component_container-1] [INFO] [1767357770.270518440] [camera.camera]: hdr_index1_laser_control_ 1 hdr_index1_depth_exposure_ 1 hdr_index1_depth_gain_ 16 hdr_index1_ir_brightness_ 30 hdr_index1_ir_ae_max_exposure_ 30458
[component_container-1] 
[component_container-1] [INFO] [1767357770.270546857] [camera.camera]: hdr_index0_laser_control_ 1 hdr_index0_depth_exposure_ 7500 hdr_index0_depth_gain_ 16 hdr_index0_ir_brightness_ 90 hdr_index0_ir_ae_max_exposure_ 30458
[component_container-1] 
[component_container-1] [INFO] [1767357770.270575190] [camera.camera]: laser_index1_laser_control_ 0 laser_index1_depth_exposure_ 3000 laser_index1_depth_gain_ 16 laser_index1_ir_brightness_ 60 laser_index1_ir_ae_max_exposure_ 17000
[component_container-1] 
[component_container-1] [INFO] [1767357770.270600086] [camera.camera]: laser_index0_laser_control_ 1 laser_index0_depth_exposure_ 3000 laser_index0_depth_gain_ 16 laser_index0_ir_brightness_ 60 laser_index0_ir_ae_max_exposure_ 30000
[component_container-1] 
[component_container-1] [INFO] [1767357770.932562106] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1767357770.936198690] [camera.camera]: Depth process is HW
[component_container-1] [INFO] [1767357770.936257877] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1767357770.938196440] [camera.camera]: Setting G300 laser control to 1
[component_container-1] [INFO] [1767357770.938719210] [camera.camera]: Available presets:
[component_container-1] [INFO] [1767357770.938813502] [camera.camera]: Preset 0: Default
[component_container-1] [INFO] [1767357770.938844210] [camera.camera]: Preset 1: AMR with IR-Pass
[component_container-1] [INFO] [1767357770.938869960] [camera.camera]: Preset 2: High Accuracy
[component_container-1] [INFO] [1767357770.938891585] [camera.camera]: Preset 3: Factory Calib
[component_container-1] [INFO] [1767357770.938912398] [camera.camera]: Preset 4: Custom
[component_container-1] [INFO] [1767357770.938932356] [camera.camera]: Load device preset: Default
[component_container-1] [INFO] [1767357770.945556544] [camera.camera]: Device preset Default loaded
[component_container-1] [INFO] [1767357770.945639460] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1767357770.946468481] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1767357770.946516398] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1767357770.946591127] [camera.camera]: Setting color flip to OFF
[component_container-1] [INFO] [1767357770.946645940] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1767357770.946686481] [camera.camera]: Setting depth flip to OFF
[component_container-1] [INFO] [1767357770.946731815] [camera.camera]: Setting noise removal filter:ON
[component_container-1] [INFO] [1767357770.946760648] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1767357770.947004731] [camera.camera]: Setting color auto exposure priority to OFF
[component_container-1] [INFO] [1767357770.947513190] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1767357770.948254190] [camera.camera]: Setting depth auto exposure priority to OFF
[component_container-1] [INFO] [1767357770.948479315] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1767357770.950751606] [camera.camera]: default noise removal filter min diff: 256
[component_container-1] [INFO] [1767357770.950793460] [camera.camera]: default noise removal filter max size: 80
[component_container-1] [INFO] [1767357770.951016815] [camera.camera]: Setting hardware noise removal filter:OFF
[component_container-1] [INFO] [1767357770.951112502] [camera.camera]: Setting accel data correction to ON
[component_container-1] [INFO] [1767357770.951153315] [camera.camera]: Setting gyro data correction to ON
[component_container-1] [INFO] [1767357770.951627002] [camera.camera]: Setting DecimationFilter......
[component_container-1] [INFO] [1767357770.951687356] [camera.camera]: set DecimationFilter to false
[component_container-1] [INFO] [1767357770.951775648] [camera.camera]: Skip setting filter: DecimationFilter
[component_container-1] [INFO] [1767357770.951811669] [camera.camera]: Setting ThresholdFilter......
[component_container-1] [INFO] [1767357770.951837440] [camera.camera]: set ThresholdFilter to false
[component_container-1] [INFO] [1767357770.951863398] [camera.camera]: Skip setting filter: ThresholdFilter
[component_container-1] [INFO] [1767357770.951891294] [camera.camera]: Setting HDRMerge......
[component_container-1] [INFO] [1767357770.951913856] [camera.camera]: set HDRMerge to false
[component_container-1] [INFO] [1767357770.951952294] [camera.camera]: Skip setting filter: HDRMerge
[component_container-1] [INFO] [1767357770.951981585] [camera.camera]: Setting SequenceIdFilter......
[component_container-1] [INFO] [1767357770.952005648] [camera.camera]: set SequenceIdFilter to false
[component_container-1] [INFO] [1767357770.952030794] [camera.camera]: Skip setting filter: SequenceIdFilter
[component_container-1] [INFO] [1767357770.952070065] [camera.camera]: Setting SpatialFastFilter......
[component_container-1] [INFO] [1767357770.952098106] [camera.camera]: set SpatialFastFilter to false
[component_container-1] [INFO] [1767357770.952124669] [camera.camera]: Skip setting filter: SpatialFastFilter
[component_container-1] [INFO] [1767357770.952152335] [camera.camera]: Setting SpatialModerateFilter......
[component_container-1] [INFO] [1767357770.952173815] [camera.camera]: set SpatialModerateFilter to false
[component_container-1] [INFO] [1767357770.952199190] [camera.camera]: Skip setting filter: SpatialModerateFilter
[component_container-1] [INFO] [1767357770.952226960] [camera.camera]: Setting SpatialAdvancedFilter......
[component_container-1] [INFO] [1767357770.952248419] [camera.camera]: set SpatialAdvancedFilter to false
[component_container-1] [INFO] [1767357770.952272648] [camera.camera]: Skip setting filter: SpatialAdvancedFilter
[component_container-1] [INFO] [1767357770.952300210] [camera.camera]: Setting TemporalFilter......
[component_container-1] [INFO] [1767357770.952321335] [camera.camera]: set TemporalFilter to false
[component_container-1] [INFO] [1767357770.952346127] [camera.camera]: Skip setting filter: TemporalFilter
[component_container-1] [INFO] [1767357770.952373398] [camera.camera]: Setting HoleFillingFilter......
[component_container-1] [INFO] [1767357770.952394960] [camera.camera]: set HoleFillingFilter to false
[component_container-1] [INFO] [1767357770.952419044] [camera.camera]: Skip setting filter: HoleFillingFilter
[component_container-1] [INFO] [1767357770.952445752] [camera.camera]: Setting DisparityTransform......
[component_container-1] [INFO] [1767357770.952467669] [camera.camera]: set DisparityTransform to true
[component_container-1] [INFO] [1767357770.952491731] [camera.camera]: Skip setting filter: DisparityTransform
[component_container-1] [INFO] [1767357770.953896731] [camera.camera]: Setting DecimationFilter......
[component_container-1] [INFO] [1767357770.953953544] [camera.camera]: set color DecimationFilter to false
[component_container-1] [INFO] [1767357770.954020835] [camera.camera]: Setting SequenceIdFilter......
[component_container-1] [INFO] [1767357770.954051648] [camera.camera]: set right ir SequenceIdFilter to false
[component_container-1] [INFO] [1767357770.954123690] [camera.camera]: Setting SequenceIdFilter......
[component_container-1] [INFO] [1767357770.954153356] [camera.camera]: set left ir SequenceIdFilter to false
[component_container-1] [INFO] [1767357770.974660856] [camera.camera]:  stream color is enabled - width: 1280, height: 720, fps: 30, Format: OB_FORMAT_MJPG
[component_container-1] [INFO] [1767357770.975657356] [camera.camera]:  stream depth is enabled - width: 848, height: 480, fps: 30, Format: OB_FORMAT_Y16
[component_container-1] [INFO] [1767357775.920780706] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [INFO] [1767357776.215882080] [camera.camera]: Device Orbbec Gemini 336L connected
[component_container-1] [INFO] [1767357776.216000768] [camera.camera]: Serial number: CPCV5530017Z
[component_container-1] [INFO] [1767357776.216067935] [camera.camera]: Firmware version: 1.4.60
[component_container-1] [INFO] [1767357776.216118455] [camera.camera]: Hardware version: 0.1
[component_container-1] [INFO] [1767357776.216146414] [camera.camera]: usb connect type: USB3.2
[component_container-1] [INFO] [1767357776.216211539] [camera.camera]: device unique id: 4-1.1.1-11
[component_container-1] [INFO] [1767357776.216249997] [camera.camera]: Current node pid: 5881
[component_container-1] [INFO] [1767357776.216277122] [camera.camera]: Start device cost 6206 ms
[component_container-1] [INFO] [1767357776.216448768] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1767357776.216496476] [camera.camera]: Stream color width: 1280 height: 720 fps: 30 format: MJPG
[component_container-1] [INFO] [1767357776.216602539] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1767357776.216640414] [camera.camera]: Stream depth width: 848 height: 480 fps: 30 format: Y16
[component_container-1] [INFO] [1767357776.242653309] [camera.camera]: Enable frame sync
[component_container-1] [INFO] [1767357776.759101163] [camera.camera]: Publishing static transform from color to depth
[component_container-1] [INFO] [1767357776.759209121] [camera.camera]: Translation 23.7211, -0.0560622, -0.210836
[component_container-1] [INFO] [1767357776.759246663] [camera.camera]: Rotation -0.00871546, 0.00047954, -0.00120922, 0.999961
[component_container-1] [INFO] [1767357776.759380121] [camera.camera]: Publishing static transform from depth to depth
[component_container-1] [INFO] [1767357776.759416517] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1767357776.759445163] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1767357776.760887955] [camera.camera]: Setting depth AE ROI to 0, 847, 0, 479
[component_container-1] [INFO] [1767357776.773245809] [camera.camera]: Setting color AE ROI to 0, 1279, 0, 719
[component_container-1] [INFO] [1767357777.242967100] [camera.camera]: Setting interleave mode to nothing
[component_container-1] [INFO] [1767357777.243117704] [camera.camera]: current interleave_ae_mode_: laser
[component_container-1] [INFO] [1767357777.244177246] [camera.camera]: Enable enable_interleave_depth_frame to false
[component_container-1] [INFO] [1767357777.244238996] [camera.camera]: Initialize device cost 6986 ms
[component_container-1] [ERROR] [1767357862.506944206] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357862.923462914] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!
[component_container-1] [ERROR] [1767357863.006777539] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357863.506846080] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357863.923499288] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!
[component_container-1] [ERROR] [1767357864.006733267] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357864.506780413] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357864.923505475] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!
[component_container-1] [ERROR] [1767357865.006833558] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357865.506835516] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357865.923478495] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!
[component_container-1] [ERROR] [1767357866.006750828] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357866.506814682] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357866.923488327] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!
[component_container-1] [ERROR] [1767357867.006753660] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357867.506812410] [camera.camera]: Error in deviceStatusTimer at line 646: DeviceComponentPtr is nullptr
[component_container-1] [ERROR] [1767357867.924396993] [camera.camera]: Failed to TemperatureUpdate1: Device is deactivated/disconnected!

本地PC在节点初始化完成之后，一直能够从ros2 topic list 中查看到相机的图片和深度图话题，但是使用rviz2无法打开相机，并且也查看不到相机的图片和深度图发布结果，如下：

cycl@NYCL:~$ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/metadata
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/metadata
/camera/depth/points
/camera/depth_filter_status
/camera/device_status
/diagnostics
/parameter_events
/rosout
/tf
/tf_static
cycl@NYCL:~$ ros2 topic hz /camera/color/image_raw
WARNING: topic [/camera/color/image_raw] does not appear to be published yet

希望能够和教练团队以及尝试过该方案的同学们交流解决一下头部相机的问题！

[splane_liu]

@NanYuanChaLiang 估计问题是在fastdds上面，试一下配置fastdds禁用无线网卡。另外，相机不稳定的问题请参考帖子：https://bbs.csdn.net/topics/620107390

[NanYuanChaLiang]

@splane_liu 我们后续使用了orbbec官方的SDK和ROS2_Wrapper，在PC和OE上均使用源码编译的形式，在PC和OE上均能使用ros2 launch启动相机节点，在PC上启动节点的时候，能够正常收发图像和深度值信息，但是在OE上启动节点的时候，在PC上能够看到话题，使用ros2 topic hz /camera/color/image_raw查看发现没有输出，同时使用ros2 topic info -v /camera/color/image_raw查看话题发布和订阅的时候输出如下： ros2 topic info -v /camera/color/image_raw Type: sensor_msgs/msg/Image Publisher count: 1 Node name: _NODE_NAME_UNKNOWN_ Node namespace: _NODE_NAMESPACE_UNKNOWN_ Topic type: sensor_msgs/msg/Image Endpoint type: PUBLISHER GID: 01.0f.7a.7c.89.1c.9a.2c.01.00.00.00.00.00.86.03.00.00.00.00.00.00.00.00 QoS profile: Reliability: RELIABLE History (Depth): UNKNOWN Durability: VOLATILE Lifespan: Infinite Deadline: Infinite Liveliness: AUTOMATIC Liveliness lease duration: Infinite Subscription count: 1 Node name: _ros2cli_34015 Node namespace: / Topic type: sensor_msgs/msg/Image Endpoint type: SUBSCRIPTION GID: 01.0f.ad.75.df.84.77.61.00.00.00.00.00.00.05.04.00.00.00.00.00.00.00.00 QoS profile: Reliability: RELIABLE History (Depth): UNKNOWN Durability: VOLATILE Lifespan: Infinite Deadline: Infinite Liveliness: AUTOMATIC Liveliness lease duration: Infinite 这是什么问题呢？

[splane_liu]

可以先测试一下，看是代码问题还是硬件问题：把相机接到笔记本/PC看下（用USB3.0线直连头部相机），在PC上跑一次这段代码，看看是否有问题？