feat(gemini2): add OrbbecSDK_ROS2/

2025-07-04 15:30:11 +08:00
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+## Starting the Camera Node in ROS 2
+
+This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
+
+### Command to Start the Node
+
+To start the camera node, execute the following command in your terminal:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
+```
+
+This command initiates the camera node and enables the colored point cloud.
+
+### Published Topics
+
+Once the camera node is running, it will publish data on several ROS topics. Below is a list of the available topics:
+
+- **IMU Data and IMU Information:**
+  - `camera/accel/imu_info`
+  - `camera/gyro/imu_info`
+  - `camera/gyro_accel/sample`
+
+- **Color Camera Topics:**
+  - `/camera/color/camera_info`
+  - `/camera/color/image_raw`
+  - `/camera/color/image_raw/compressed`
+  - `/camera/color/image_raw/compressedDepth`
+  - `/camera/color/image_raw/theora`
+  - `/camera/color/metadata`
+
+- **Depth Camera Topics:**
+  - `/camera/depth/camera_info`
+  - `/camera/depth/image_raw`
+  - `/camera/depth/image_raw/compressed`
+  - `/camera/depth/image_raw/compressedDepth`
+  - `/camera/depth/image_raw/theora`
+  - `/camera/depth/metadata`
+  - `/camera/depth/points`
+  - `/camera/depth_filter_status`
+  - `/camera/depth_registered/points`
+  - `/camera/depth_to_color`
+  - `/camera/depth_to_left_ir`
+  - `/camera/depth_to_right_ir`
+
+- **Infrared Camera Topics:**
+  - `/camera/left_ir/camera_info`
+  - `/camera/left_ir/image_raw`
+  - `/camera/left_ir/image_raw/compressed`
+  - `/camera/left_ir/image_raw/compressedDepth`
+  - `/camera/left_ir/image_raw/theora`
+  - `/camera/left_ir/metadata`
+  - `/camera/right_ir/camera_info`
+  - `/camera/right_ir/image_raw`
+  - `/camera/right_ir/image_raw/compressed`
+  - `/camera/right_ir/image_raw/compressedDepth`
+  - `/camera/right_ir/image_raw/theora`
+  - `/camera/right_ir/metadata`
+
+- **Miscellaneous Topics:**
+  - `/diagnostics`
+  - `/parameter_events`
+  - `/rosout`
+  - `/rosout_agg`
+
+### Visualizing Data in RViz2
+
+To view the PointCloud or Image data, use RViz2:
+
+1. Launch RViz2.
+2. Select the topic you wish to visualize from the list of published topics.
+3. Add the selected topic to RViz2 to start viewing the data.
+
+### Example Visualizations
+
+Here are examples of how the visualization might appear in RViz2:
+
+- **PointCloud Visualization**
+  ![PointCloud View](./images/image1.jpg)
+  
+- **Image Data Visualization**
+  ![Image Data View](./images/image2.jpg)
+