Sensor Functions

1. Sensor capabilities

1.1. Overall framework

1.2. Parameter configuration and queries

1.2.1. Service overview

Service	Description	service_type	Configuration notes	Details
/set_camera_option	Dynamically set camera options (gain/exposure/brightness/white_balance, etc.). Send the complete `camera_options.json`; route by `sensor_id` to the sensor plugin's `ApplySensorOptionFromJson()`	`rcl_interfaces/srv/SetParameters`	SetParameters request; the first parameter's string_value carries the full JSON	JSON / Schema
/sensor/sensor_vla_camera/sensor_version	Query versions of all registered sensors, including firmware and device models	`robby_sensor_msgs/srv/GetSensorVersions`	Service name is formed dynamically from module_name; each RobbySensorCenter process has a unique service name	JSON / Schema

1.3. Service

1.3.1. Communication JSON: set_camera_option

{
  "channels": {
    "set_camera_option_rpc": {
      "type": "hybrid_rpc",
      "hybrid_rpc": {
        "service_prefix": "/",
        "enable_shm": false,
        "enable_ros2": true,
        "auto_route": false,
        "default_timeout_ms": 2000
      },
      "ros2": {
        "service_prefix": "/",
        "service_type": "rcl_interfaces/srv/SetParameters"
      }
    }
  }
}

Invocation method: set_camera_option. Concatenate service_prefix and method for the full service name. This is an RFrame client integration template; Sensor Center registers the server using native ROS2. The 2000 ms client timeout is an example, not a server guarantee.

Service name: The code registers the relative name set_camera_option, which resolves to /set_camera_option in the default root namespace. Adjust it for ROS namespaces or remapping. The node's standard parameter service /SensorCenterNode0x54/set_parameters does not replace this application callback.

1.3.1.1. Type Schema

Type: rcl_interfaces/srv/SetParameters

Source: rcl_interfaces

# A list of parameters to set.
Parameter[] parameters

---
# Indicates whether setting each parameter succeeded or not and why.
SetParametersResult[] results

1.3.1.2. Type Schema

Type: rcl_interfaces/msg/Parameter

Source: rcl_interfaces

# This is the message to communicate a parameter. It is an open struct with an enum in
# the descriptor to select which value is active.

# The full name of the parameter.
string name

# The parameter's value which can be one of several types, see
# `ParameterValue.msg` and `ParameterType.msg`.
ParameterValue value
        uint8 type
        bool bool_value
        int64 integer_value
        float64 double_value
        string string_value
        byte[] byte_array_value
        bool[] bool_array_value
        int64[] integer_array_value
        float64[] double_array_value
        string[] string_array_value

1.3.1.3. Type Schema

Type: rcl_interfaces/msg/SetParametersResult

Source: rcl_interfaces

# A true value of the same index indicates that the parameter was set
# successfully. A false value indicates the change was rejected.
bool successful

# Reason why the setting was either successful or a failure. This should only be
# used for logging and user interfaces.
string reason

Request JSON structure (string_value payload):

{
  "camera_set_option": [
    {
      "sensor_id": "0x1",
      "color": {
        "gain": 0,
        "brightness": 0,
        "exposure": 156,
        "white_balance": 3800,
        "gamma": 150,
        "auto_exposure": false,
        "auto_white_balance": false
      },
      "depth": {
        "gain": 20,
        "exposure": 4500,
        "auto_exposure": false,
        "laser_contrl_bool": true
      },
      "ir": {
        "gain": 20,
        "exposure": 4500,
        "brightness": 0,
        "auto_exposure": false
      }
    }
  ]
}

Invocation example

# Set sensor_id=0x1 Color stream exposure to 156 and disable auto-exposure
ros2 service call /set_camera_option rcl_interfaces/srv/SetParameters \
  "{parameters: [{name: 'camera_option', value: {type: 4, string_value: '{\"camera_set_option\": [{\"sensor_id\": \"0x1\", \"color\": {\"exposure\": 156, \"auto_exposure\": false}}]}'}}]}"

Semantics: The request is standard SetParameters; the first parameter's string_value contains the complete camera_options.json. The callback parses the camera_set_option array and routes by sensor_id to the sensor plugin's ApplySensorOptionFromJson(). Fields in color / depth / ir sections can be set independently; send only those being changed.

1.3.2. Communication JSON: sensor_version

{
  "channels": {
    "sensor_version_rpc": {
      "type": "hybrid_rpc",
      "hybrid_rpc": {
        "service_prefix": "/sensor/sensor_vla_camera/",
        "enable_shm": false,
        "enable_ros2": true,
        "auto_route": false,
        "default_timeout_ms": 2000
      },
      "ros2": {
        "service_prefix": "/sensor/sensor_vla_camera/",
        "service_type": "robby_sensor_msgs/srv/GetSensorVersions"
      }
    }
  }
}

Invocation method: sensor_version. Concatenate service_prefix and method for the full service name. This is an RFrame client integration template; Sensor Center registers the server using native ROS2. The 2000 ms client timeout is an example, not a server guarantee.

1.3.2.1. Type Schema

Type: robby_sensor_msgs/srv/GetSensorVersions

Source: RTypes: robby_sensor_msgs/srv/GetSensorVersions.srv

# GetSensorVersions.srv

# Request
string sensor_type           # Sensor type
---
# Response
bool success                 # Whether the request succeeded
string version               # Version information in JSON format

Response JSON structure:

{
  "HeadMonoDepthCamera": {
    "firmware_ver":"1.6.00",
    "hw_ver":"0.1",
    "sn":"CP2BC53000H3"
  },
  "LeftWristMonoDepthCamera": {
    "firmware_ver":"1.0.70",
    "hw_ver":"0.1",
    "sn":"CV2R46P0005T"
  }
}

Invocation example

# Query versions of all sensors under the current module
ros2 service call /sensor/sensor_vla_camera/sensor_version robby_sensor_msgs/srv/GetSensorVersions "{sensor_type: ''}"

Semantics: The request includes sensor_type, but the current Sensor Center callback does not read or filter by it. The response contains success and version. With no version records, success=false and version is empty. Otherwise success=true; devices expected to provide a version but unavailable have null values. version is a JSON string keyed by sensor_tag (the unique sensor identifier), with values containing firmware_ver, hw_ver, and sn.

1.3.3. Main configuration

Configuration path: /opt/robby/robby-sensor-center/config/robby_r2_fun/sensor_center/sensor_global_cam_pvt.json

After editing the configuration, restart robby-sensor-center.service (sudo systemctl restart robby-sensor-center.service).

Field	Type	Default	Meaning	Options / examples
`sync_enable`	bool	`false`	Enable multi-camera hardware synchronization. Cameras use hardware triggers for frame-level synchronization	`true` (enabled) / `false` (disabled)
`sync_mode`	string	None	Synchronization role, effective only when `sync_enable=true`	`"slave"` (slave synchronization) / `"master"` (outputs trigger signals) / `"sw_trigger"` (software trigger)
`enable_color`	bool	`false`	Enable the Color stream	`true` / `false`
`enable_depth`	bool	`false`	Enable the Depth stream	`true` / `false`
`enable_ir`	bool	`false`	Enable IR streams, including Left IR and Right IR	`true` / `false`
`time_src`	string	`"system_time"`	Frame timestamp source: system or camera hardware time for each frame's `time_stamp`	`"system_time"` (host time) / `"camera_time"` (camera global timestamp `getGlobalTimeStampUs()`)
`d2c_enable`	bool	`true`	Enable Depth-to-Color spatial alignment. Align depth coordinates to color coordinates; requires both streams	`true` (aligned) / `false` (unaligned)
`filter_max_diff`	int32	`256`	Maximum difference threshold for depth noise filtering. Sets OrbbecSDK `OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_DIFF_INT`; adjacent-pixel depth differences exceeding it are treated as noise and removed	`256` (default) / `128` (stricter) / `512` (looser) / `0` (off)
`filter_max_speckle_size`	int32	`300`	Maximum speckle size for depth noise filtering. Sets `OB_PROP_DEPTH_NOISE_REMOVAL_FILTER_MAX_SPECKLE_SIZE_INT`; contiguous noise regions larger than this are removed	`300` (default) / `150` (more aggressive) / `600` (more conservative) / `0` (off)
`tegra_jpeg`	bool	`false`	Use NVIDIA Tegra hardware JPEG encoding (ARM64/Orin only). Color stream encoding uses GPU hardware acceleration to reduce CPU load	`true` (Tegra hardware encoding) / `false` (CPU encoding)
`color_width`	int	`0`	Color stream width in pixels	`1280` / `640` / `848` / `1920`
`color_height`	int	`0`	Color stream height in pixels	`720` / `480` / `530` / `1080`
`color_fps`	int	`0`	Target Color frame rate (fps). In `hw_trigger` mode, code forces it to 10	`30` / `10` / `15` / `60`
`depth_width`	int	`0`	Depth stream width in pixels	`1280` / `640` / `848` / `800`
`depth_height`	int	`0`	Depth stream height in pixels	`720` / `480` / `530` / `576`
`depth_fps`	int	`0`	Target Depth frame rate (fps). In `hw_trigger` mode, code forces it to 10	`30` / `10` / `15` / `60`

Field dependencies:

sync_mode applies only when sync_enable=true.
d2c_enable=true requires both enable_color=true and enable_depth=true.

Model	Brand
Gemini 335L	Orbbec
Gemini 335	Orbbec
Gemini 335	Orbbec
Gemini 305L	Orbbec
Gemini 305	Orbbec
Femto Bolt	Orbbec
RealSense D405	Intel
RealSense D415	Intel
RealSense D435	Intel
RealSense D455	Intel

Note: 335 and 305 are treated as equivalent (305 can replace 335). RealSense cameras are matched by SN; any device supported by librealsense2 can run. The code does not enforce a model-level allowlist.

1. Sensor capabilities​

1.1. Overall framework​

1.2. Parameter configuration and queries​

1.2.1. Service overview​

1.3. Service​

1.3.1. Communication JSON: set_camera_option​

1.3.1.1. Type Schema​

1.3.1.2. Type Schema​

1.3.1.3. Type Schema​

1.3.2. Communication JSON: sensor_version​

1.3.2.1. Type Schema​

1.3.3. Main configuration​