ROS2 Humble 配置 Orbbec Gemini2L相机 和 Mid360

Will_Ye2026-01-14 9:22

以下安装的驱动都是ROS2 Humble版本的，且都是源码编译。

I. Orbbec Gemini2L RGBD Camera

Steps:

  1. 先装依赖

    sudo apt install libgflags-dev nlohmann-json3-dev
    ros-ROS_DISTRO-image-transport ros-{ROS_DISTRO}-image-transport-plugins ros-{ROS_DISTRO}-compressed-image-transport \ ros-ROS_DISTRO-image-publisher ros-ROS_DISTRO-camera-info-manager \ ros-ROS_DISTRO-diagnostic-updater ros-ROS_DISTRO-diagnostic-msgs ros-ROS_DISTRO-statistics-msgs ros-ROS_DISTRO-xacro \ ros-ROS_DISTRO-backward-ros libdw-dev libssl-dev mesa-utils libgl1 libgoogle-glog-dev

  2. 创建一个ws

    mkdir -p ~/ros2_ws/src
    cd ~/ros2_ws/src
    git clone https://github.com/orbbec/OrbbecSDK_ROS2.git
    cd OrbbecSDK_ROS2
    git checkout v2-main

  3. 编译

    cd ~/ros2_ws
    colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release

  4. 注册脚本

    cd ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
    sudo bash install_udev_rules.sh
    sudo udevadm control --reload-rules && sudo udevadm trigger

  5. 运行

    ros2 launch orbbec_camera gemini2L.launch.py

    如果成功没报错的话，就可以正常使用了，打开rviz就可以添加订阅对应的topic查看了

  6. 可能出现的问题

    但是可能会出现报错，提示关于depth format报错，如下：

    rob@robnuc:~/orbbect_ws$ ros2 launch orbbec_camera gemini2L.launch.py
    [INFO] [launch]: All log files can be found below /home/rob/.ros/log/2026-01-12-16-01-44-805630-robnuc-11028
    [INFO] [launch]: Default logging verbosity is set to INFO
    [INFO] [component_container-1]: process started with pid [11039]
    [component_container-1] [INFO] [1768204905.134407323] [camera.camera_container]: Load Library: /home/rob/orbbect_ws/install/orbbec_camera/lib/liborbbec_camera.so
    [component_container-1] [INFO] [1768204905.189721726] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
    [component_container-1] [INFO] [1768204905.189768362] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
    [component_container-1] [INFO] [1768204905.194551579] [camera.camera]: Device access mode: Default (4)
    [component_container-1] [INFO] [1768204905.194576276] [camera.camera]: setUvcBackendType:libuvc
    [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
    [component_container-1] [INFO] [1768204908.283918521] [camera.camera]: startDevice called
    [component_container-1] [INFO] [1768204908.384128300] [camera.camera]: Connecting to the default device
    [component_container-1] [INFO] [1768204908.467458110] [camera.camera]: Select device cost 83 ms
    [component_container-1] [INFO] [1768204908.467529469] [camera.camera]: Try to connect device via USB3.0
    [component_container-1] [INFO] [1768204908.467622151] [camera.camera]: OBCameraNode: use_intra_process: OFF
    [component_container-1] OBFormatFromString: MJPG
    [component_container-1] OBFormatFromString: Y16
    [component_container-1] OBFormatFromString: Y8
    [component_container-1] OBFormatFromString: Y16
    [component_container-1] OBFormatFromString: Y16
    [component_container-1] [INFO] [1768204908.621667484] [camera.camera]: current time domain: global
    [component_container-1] [INFO] [1768204908.621749157] [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] [1768204908.621765979] [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] [1768204908.621779431] [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_ 7000
    [component_container-1]
    [component_container-1] [INFO] [1768204908.621792674] [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_ 17000
    [component_container-1]
    [component_container-1] [INFO] [1768204908.644371427] [camera.camera]: Setting heartbeat to OFF
    [component_container-1] [INFO] [1768204908.644586118] [camera.camera]: Depth process is SW
    [component_container-1] [INFO] [1768204908.644596348] [camera.camera]: Setting LDP to ON
    [component_container-1] [INFO] [1768204908.644765342] [camera.camera]: Setting laser control to 1
    [component_container-1] [INFO] [1768204908.644937766] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
    [component_container-1] [INFO] [1768204908.644950265] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
    [component_container-1] [INFO] [1768204908.644957998] [camera.camera]: Setting color mirror to OFF
    [component_container-1] [INFO] [1768204908.644977784] [camera.camera]: Setting color flip to OFF
    [component_container-1] [INFO] [1768204908.644985703] [camera.camera]: Setting depth mirror to OFF
    [component_container-1] [INFO] [1768204908.644992859] [camera.camera]: Setting depth flip to OFF
    [component_container-1] [INFO] [1768204908.645002307] [camera.camera]: Setting ir mirror to OFF
    [component_container-1] [INFO] [1768204908.645018072] [camera.camera]: Setting ir flip to OFF
    [component_container-1] [INFO] [1768204908.645026526] [camera.camera]: Setting noise removal filter:ON
    [component_container-1] [INFO] [1768204908.645031862] [camera.camera]: Setting color auto white balance to ON
    [component_container-1] [INFO] [1768204908.645122523] [camera.camera]: Setting color auto exposure to ON
    [component_container-1] [INFO] [1768204908.646833164] [camera.camera]: Setting IR auto exposure to ON
    [component_container-1] [INFO] [1768204908.651501556] [camera.camera]: default noise removal filter min diff: 256
    [component_container-1] [INFO] [1768204908.651526226] [camera.camera]: default noise removal filter max size: 200
    [component_container-1] [INFO] [1768204908.651532891] [camera.camera]: Setting accel data correction to ON
    [component_container-1] [INFO] [1768204908.651539731] [camera.camera]: Setting gyro data correction to ON
    [component_container-1] [INFO] [1768204908.651657488] [camera.camera]: Setting EdgeNoiseRemovalFilter......
    [component_container-1] [INFO] [1768204908.651672690] [camera.camera]: Skip setting filter: EdgeNoiseRemovalFilter
    [component_container-1] [INFO] [1768204908.651679838] [camera.camera]: Setting SpatialAdvancedFilter......
    [component_container-1] [INFO] [1768204908.651684965] [camera.camera]: set SpatialAdvancedFilter to false
    [component_container-1] [INFO] [1768204908.651699502] [camera.camera]: Skip setting filter: SpatialAdvancedFilter
    [component_container-1] [INFO] [1768204908.651708643] [camera.camera]: Setting TemporalFilter......
    [component_container-1] [INFO] [1768204908.651717114] [camera.camera]: set TemporalFilter to false
    [component_container-1] [INFO] [1768204908.651730475] [camera.camera]: Skip setting filter: TemporalFilter
    [component_container-1] [INFO] [1768204908.651759542] [camera.camera]: Setting HoleFillingFilter......
    [component_container-1] [INFO] [1768204908.651765446] [camera.camera]: set HoleFillingFilter to false
    [component_container-1] [INFO] [1768204908.651770551] [camera.camera]: Skip setting filter: HoleFillingFilter
    [component_container-1] [INFO] [1768204908.651776041] [camera.camera]: Setting DisparityTransform......
    [component_container-1] [INFO] [1768204908.651780891] [camera.camera]: set DisparityTransform to true
    [component_container-1] [INFO] [1768204908.651785745] [camera.camera]: Skip setting filter: DisparityTransform
    [component_container-1] [INFO] [1768204908.651791216] [camera.camera]: Setting ThresholdFilter......
    [component_container-1] [INFO] [1768204908.651798803] [camera.camera]: set ThresholdFilter to false
    [component_container-1] [INFO] [1768204908.651803972] [camera.camera]: Skip setting filter: ThresholdFilter
    [component_container-1] [WARN] [1768204908.652070495] [camera.camera]: Failed to get color sensor filter list
    [component_container-1] [INFO] [1768204908.653158392] [camera.camera]: stream color is enabled - width: 1280, height: 800, fps: 30, Format: OB_FORMAT_MJPG
    [component_container-1] [ERROR] [1768204908.653334414] [camera.camera]: Failed to get depth profile: Invalid input, No matched video stream profile found!
    [component_container-1] [ERROR] [1768204908.653343489] [camera.camera]: Stream: OB_STREAM_DEPTH, Stream Index: 0, Width: 1280, Height: 800, FPS: 30, Format: OB_FORMAT_Y16
    [component_container-1] [ERROR] [1768204908.653348329] [camera.camera]: Error: The device might be connected via USB 2.0. Please verify your configuration and try again. The current process will now exit.
    [component_container-1] [INFO] [1768204908.653353306] [camera.camera]: Available profiles:
    [component_container-1] [INFO] [1768204908.653396583] [camera.camera]: depth profile: 1280x800 30fps REL
    [component_container-1] [INFO] [1768204908.653406297] [camera.camera]: depth profile: 1280x800 30fps Y14
    [component_container-1] [INFO] [1768204908.653411972] [camera.camera]: depth profile: 1280x800 15fps Y14
    [component_container-1] [INFO] [1768204908.653417443] [camera.camera]: depth profile: 1280x800 15fps REL
    [component_container-1] [INFO] [1768204908.653422802] [camera.camera]: depth profile: 1280x800 10fps Y14
    [component_container-1] [INFO] [1768204908.653428211] [camera.camera]: depth profile: 1280x800 10fps REL
    [component_container-1] [INFO] [1768204908.653433697] [camera.camera]: depth profile: 1280x800 5fps Y14
    [component_container-1] [INFO] [1768204908.653439364] [camera.camera]: depth profile: 1280x800 5fps REL
    [component_container-1] [INFO] [1768204908.653444799] [camera.camera]: depth profile: 640x400 30fps Y14
    [component_container-1] [INFO] [1768204908.653452211] [camera.camera]: depth profile: 640x400 30fps REL
    [component_container-1] [INFO] [1768204908.653459102] [camera.camera]: depth profile: 640x400 15fps Y14
    [component_container-1] [INFO] [1768204908.653464636] [camera.camera]: depth profile: 640x400 15fps REL
    [component_container-1] [INFO] [1768204908.653470081] [camera.camera]: depth profile: 640x400 10fps Y14
    [component_container-1] [INFO] [1768204908.653475460] [camera.camera]: depth profile: 640x400 10fps REL
    [component_container-1] [INFO] [1768204908.653482819] [camera.camera]: depth profile: 640x400 5fps Y14
    [component_container-1] [INFO] [1768204908.653488534] [camera.camera]: depth profile: 640x400 5fps REL
    [component_container-1] [INFO] [1768204908.653493915] [camera.camera]: depth profile: 320x200 30fps Y14
    [component_container-1] [INFO] [1768204908.653499261] [camera.camera]: depth profile: 320x200 30fps REL
    [component_container-1] [INFO] [1768204908.653504656] [camera.camera]: depth profile: 320x200 15fps Y14
    [component_container-1] [INFO] [1768204908.653509990] [camera.camera]: depth profile: 320x200 15fps REL
    [component_container-1] [INFO] [1768204908.653515272] [camera.camera]: depth profile: 320x200 10fps Y14
    [component_container-1] [INFO] [1768204908.653520627] [camera.camera]: depth profile: 320x200 10fps REL
    [component_container-1] [INFO] [1768204908.653525943] [camera.camera]: depth profile: 320x200 5fps Y14
    [component_container-1] [INFO] [1768204908.653532400] [camera.camera]: depth profile: 320x200 5fps REL
    [component_container-1] [ERROR] [1768204908.653538187] [camera.camera]: Because can not set this stream, so exit.
    [ERROR] [component_container-1]: process has died [pid 11039, exit code 255, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args -r __node:=camera_container -r __ns:=/camera'].

这时可以试试运行下面这句，更换depth format
ros2 launch orbbec_camera gemini2L.launch.py depth_format:=Y14

如果上面这句指令能正常运行，修改一下launch文件里的默认参数以及再次编译，下次就不用添加参数了，步骤如下：

Solution:

1)Find "~/orbbect_ws/src/OrbbecSDK_ROS2/orbbec_camera/launch/gemini2L.launch.py"

2)Modify 'depth_format' value from "Y16" to "Y14"

复制代码 
        DeclareLaunchArgument("depth_format", default_value="Y14"),

3)Complie

复制代码 
cd orbbect_ws
colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release

4)Run ros2 launch orbbec_camera gemini2L.launch.py

5)Open rviz2 to display the RGB image / depth image / Point cloud

II. Mid-360 配置

Steps:

  1. 先安装SDKLivox-SDK2
    确保用安装cmake，然后先安装SDK，找个地方下载包 (如，主目录)， 运行

    git clone https://github.com/Livox-SDK/Livox-SDK2.git
    cd ./Livox-SDK2/
    mkdir build
    cd build
    cmake .. && make -j
    sudo make install

  2. 然后安装驱动：livox_ros_driver2
    下面这句指令会自动创建ws和下载包

    git clone https://github.com/Livox-SDK/livox_ros_driver2.git ws_livox/src/livox_ros_driver2

下载完后，进行编译：

复制代码 
cd ws_livox/src/livox_ros_driver2
source /opt/ros/humble/setup.sh
./build.sh humble
  1. 运行
    ros2 launch livox_ros_driver2 rviz_MID360_launch.py

这时应该会遇到报错，如下

ERROR 1:
复制代码 
"terminate called after throwing an instance of 'class_loader::LibraryLoadException'
  what():  Could not load library dlopen error: liblivox_lidar_sdk_shared.so: cannot open shared object file: No such file or directory, at ./src/shared_library.c:99
[ros2run]: Aborted"
解决方法：

再.bashrc 文件最后加一行

  1. 打开terminal，输入：
    export LD_LIBRARY_PATH=/usr/local/lib
  2. 再次运行
    ros2 launch livox_ros_driver2 rviz_MID360_launch.py
ERROR 2:
复制代码 
rob@robnuc:~/ws_livox$ ros2 launch livox_ros_driver2 rviz_MID360_launch.py 
[INFO] [launch]: All log files can be found below /home/rob/.ros/log/2026-01-12-18-00-57-848143-robnuc-6277
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [livox_ros_driver2_node-1]: process started with pid [6278]
[INFO] [rviz2-2]: process started with pid [6280]
[livox_ros_driver2_node-1] [INFO] [1768212057.902159952] [livox_lidar_publisher]: Livox Ros Driver2 Version: 1.2.4
[livox_ros_driver2_node-1] [INFO] [1768212057.902493986] [livox_lidar_publisher]: Data Source is raw lidar.
[livox_ros_driver2_node-1] [INFO] [1768212057.902514468] [livox_lidar_publisher]: Config file : /home/rob/ws_livox/install/livox_ros_driver2/share/livox_ros_driver2/launch_ROS2/../config/MID360_config.json
[livox_ros_driver2_node-1] LdsLidar *GetInstance
[livox_ros_driver2_node-1] config lidar type: 8
[livox_ros_driver2_node-1] successfully parse base config, counts: 1
[livox_ros_driver2_node-1] bind failed
[livox_ros_driver2_node-1] Failed to init livox lidar sdk.
[livox_ros_driver2_node-1] [ERROR] [1768212057.904702665] [livox_lidar_publisher]: Init lds lidar fail!
[rviz2-2] [INFO] [1768212058.174511057] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-2] [INFO] [1768212058.174582048] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[rviz2-2] [INFO] [1768212058.187690039] [rviz2]: Stereo is NOT SUPPORTED
解决方法:

配置电脑端和Mid360的ip地址

  1. 打开 /home/rob/ws_livox/src/livox_ros_driver2/config/MID360_config.json

  2. 修改里面的ip地址
    Host ip: 这是我们电脑的静态ip，host_net_info里面所有的ip都改成这个静态ip地址
    Lidar ip: 192.168.1.1xx (xx是mid360上的序列号最后两位)，我买的这个最后两位是35，所以对应的地址就是192.168.1.135

    {
    "lidar_summary_info" : {
    "lidar_type": 8
    },
    "MID360": {
    "lidar_net_info" : {
    "cmd_data_port": 56100,
    "push_msg_port": 56200,
    "point_data_port": 56300,
    "imu_data_port": 56400,
    "log_data_port": 56500
    },
    "host_net_info" : {
    "cmd_data_ip" : "192.168.1.5",
    "cmd_data_port": 56101,
    "push_msg_ip": "192.168.1.5",
    "push_msg_port": 56201,
    "point_data_ip": "192.168.1.5",
    "point_data_port": 56301,
    "imu_data_ip" : "192.168.1.5",
    "imu_data_port": 56401,
    "log_data_ip" : "",
    "log_data_port": 56501
    }
    },
    "lidar_configs" : [
    {
    "ip" : "192.168.1.135",
    "pcl_data_type" : 1,
    "pattern_mode" : 0,
    "extrinsic_parameter" : {
    "roll": 0.0,
    "pitch": 0.0,
    "yaw": 0.0,
    "x": 0,
    "y": 0,
    "z": 0
    }
    }
    ]
    }

  3. 编译

    ./src/livox_ros_driver2/build.sh humble

  4. 运行

    ros2 launch livox_ros_driver2 rviz_MID360_launch.py

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