primitive-orbbec-dabai_dcw-camera-rbnx

Robonix package wrapping the Orbbec Dabai DCW RGBD camera. Owns the primitive/camera/* namespace. Exposes the camera's RGB + depth + camera_info streams under generic contracts so consumers (grasp / detection / scene / vision skills) resolve topic names through atlas — no hardcoded /camera/color/image_raw paths on the consumer side.

Catalog name: robonix.primitive.orbbec.dabai_dcw.camera.

Capability surface

camera_info is package-locally defined (see capabilities/primitive/camera/camera_info.v1.toml) because the robonix global tree does not ship that contract yet; codegen + atlas merge package-level capabilities automatically. service-object-detect-rbnx uses it to synchronize RGB frames and, when depth is enabled, to back-project detections. The current vertical-grasp deploy skips depth and lets service-grasp-pose-rbnx map bbox pixels through a calibrated 2D homography.

Aspirational contracts (extrinsics, snapshot, depth_snapshot) listed in the global capabilities/primitive/camera/ are intentionally not declared here — per the packaging rules, manifest entries must correspond to real declare_ros2_*/@cap.mcp(...) handlers.

Boot ordering

Boot this before any consumer of primitive/camera/*. In the current vertical-grasp pipeline, service-object-detect-rbnx resolves rgb and camera_info during its Driver(CMD_INIT) call. service-grasp-pose-rbnx does not consume camera topics directly; it receives the bbox from detection and uses the deploy's homography.

Driver-init lifecycle

start.sh brings up the atlas bridge — no ROS spawn. The bridge opens a gRPC server, registers the provider, declares only primitive/camera/driver (auto-emitted by the framework when codegen produces a Driver Servicer), then blocks on Driver(CMD_INIT, config_json).

When rbnx boot invokes Init it passes the manifest's config: block as JSON. The lifecycle then runs:

1. CMD_INIT: parse and validate cfg (camera name, resolution / fps, depth_registration, USB pin, sentinel timeout);
2. CMD_ACTIVATE: spawn ros2 launch orbbec_camera dabai_dcw.launch.py …;
3. wait for the first sensor_msgs/Image on the configured RGB topic (sentinel);
4. declare primitive/camera/{rgb, depth, camera_info} on atlas.

Atlas only ever advertises endpoints we've confirmed are publishing. CMD_DEACTIVATE / CMD_SHUTDOWN kill the orbbec subprocess. Idempotent.

If the camera is not connected or the driver stalls, the sentinel times out and Init returns state="error".

Layout

primitive-orbbec-dabai_dcw-camera-rbnx/
├── package_manifest.yaml
├── capabilities/
│   └── primitive/camera/camera_info.v1.toml   # package-local contract
├── orbbec_camera/
│   ├── __init__.py
│   └── main.py                                # lifecycle + sentinel
├── scripts/
│   ├── build.sh                               # colcon build src + rbnx codegen
│   └── start.sh                               # source ROS, exec main
└── src/
    └── OrbbecSDK_ROS2/                        # VENDORED orbbec/OrbbecSDK_ROS2
        ├── orbbec_camera/                     # ROS 2 driver pkg
        ├── orbbec_camera_msgs/
        └── orbbec_description/

Config (passed via Driver(CMD_INIT, config_json))

camera_name:        camera        # ROS namespace; topic prefix
depth_registration: true          # HW-align depth to color frame
enable_d2c_viewer:  false         # debug RViz; off in deploy
color_width:        640
color_height:       480
color_fps:          10            # dabai_dcw firmware default
depth_width:        640
depth_height:       400
depth_fps:          10
serial_number:      ""            # pin to specific device when multiple connected
usb_port:           ""
sentinel_timeout_s: 30.0          # max wait for first RGB frame in on_activate
# Topic-name overrides (rarely needed):
# rgb_topic:          /<camera_name>/color/image_raw
# depth_topic:        /<camera_name>/depth/image_raw
# camera_info_topic:  /<camera_name>/color/camera_info

Build / run standalone

bash scripts/build.sh                           # colcon build vendored src + rbnx codegen
ROBONIX_ATLAS=127.0.0.1:50051 \
    bash scripts/start.sh                       # registers, awaits Init

To drive the lifecycle manually (without rbnx boot), call the camera's Driver service with CMD_INIT and a config JSON, then call CMD_ACTIVATE. Init only validates configuration; Activate returns after the first RGB frame is observed and the three topic streams are declared.

Verification

rbnx caps | grep camera
# Expected: orbbec_camera provider with
#   robonix/primitive/camera/{driver, rgb, depth, camera_info}

ros2 topic hz /camera/color/image_raw           # ~10 Hz with default fps
ros2 topic hz /camera/depth/image_raw           # ~10 Hz
ros2 topic echo /camera/color/camera_info --once  # K, D, R, P intrinsics

Vendor / upstream

src/OrbbecSDK_ROS2/ is a verbatim copy of orbbec/OrbbecSDK_ROS2. The Dabai DCW firmware-blob SDK ships under orbbec_camera/SDK/{include,lib}/. If anything diverges from upstream, drop a *.patch alongside src/ documenting the diff.

License

This package: Apache-2.0. Vendored OrbbecSDK_ROS2: see its LICENSE file.