<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic & General Parameters</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware & Backend</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics & Calibration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging & Diagnostics</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor & Emitter Control</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information & Management</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization & Triggering</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture & Calibration Management</a></li>
</ul>
</li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status & Diagnostics</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html">4.4. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.1. Using ROS2 TF Tools</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.1.1. View TF Tree Structure</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.1.2. Visualize TF Tree in rviz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.2. Camera TF Calculation and Publishing Mechanism</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.2.2. Function Breakdown</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.3. Camera sensor structure</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.4. TF from coordinate A to coordinate B:</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance & Optimization</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#preparation-for-operation">5.2.3.2. Preparation for operation</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#run-this-example">5.2.3.3. Run this example</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#files-that-need-to-be-changed">5.2.3.4. Files that need to be changed</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration & Modes</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega & Gemini 435Le & Gemini 335Le</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
<liclass="toctree-l3"><aclass="reference internal"href="#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
<liclass="toctree-l4"><aclass="reference internal"href="#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
<liclass="toctree-l4"><aclass="reference internal"href="#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
<liclass="toctree-l4"><aclass="reference internal"href="#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
</ul>
</li>
<liclass="toctree-l3"><aclass="reference internal"href="#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
<liclass="toctree-l2"><aclass="reference internal"href="building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
<liclass="toctree-l3"><aclass="reference internal"href="building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
<liclass="toctree-l2"><aclass="reference internal"href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
<h1><spanclass="section-number">7.1. </span>Migrating from main to Open-Source v2-main<aclass="headerlink"href="#migrating-from-main-to-open-source-v2-main"title="Link to this heading"></a></h1>
<p>Initially, Orbbec provided a <strong>closed-source SDK — Orbbec SDK v1</strong>, which formed the foundation of the <aclass="reference external"href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main branch</a>. Although the ROS wrapper layer itself was open-source, it relied on a closed-source underlying SDK. This architecture imposed limitations on flexibility and hindered community-driven improvements.</p>
<p>As developers increasingly demanded transparency, maintainability, and broader device support, Orbbec released a brand-new open-source v2-main <strong>— Orbbec SDK_v2</strong> (<aclass="reference external"href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub link</a>). Based on this SDK, the <aclass="reference external"href="https://github.com/orbbec/OrbbecSDK_ROS2">open-source v2-main branch of OrbbecSDK ROS2</a> is now fully open source, offering greater extensibility and alignment with Orbbec’s future product roadmap.</p>
<p>This document introduces the motivations and benefits of migrating ROS packages from the main branch (based on SDK v1) to the v2-main branch (based on Orbbec SDK_v2). It highlights the key differences in <strong>launch files, parameters, topics, and services</strong>, and provides a migration guide to help developers smoothly transition.</p>
<p><strong>Note:</strong> In the following content, <strong>main</strong> refers to the closed-source branch, while <strong>v2-main</strong> refers to the open-source v2-main branch.</p>
<h2><spanclass="section-number">7.1.2. </span>Advantages of Migrating from main to v2-main<aclass="headerlink"href="#advantages-of-migrating-from-main-to-v2-main"title="Link to this heading"></a></h2>
<p>In October 2024, Orbbec released a major update: <strong>OrbbecSDK ROS2 Wrapper v2</strong>, which is entirely based on the open-source Orbbec SDK_v2. Compared to the legacy main branch (SDK v1.x), the v2-main branch (Orbbec SDK_v2.x) provides greater flexibility and scalability, while offering comprehensive support for all Orbbec USB products that comply with the UVC standard.The migration from main –> v2-main brings the following key advantages:</p>
<sectionid="comprehensive-device-support">
<h3><spanclass="section-number">7.1.2.1. </span><strong>Comprehensive Device Support</strong><aclass="headerlink"href="#comprehensive-device-support"title="Link to this heading"></a></h3>
<p>The v2-main branch supports all UVC-compliant Orbbec USB cameras and will be the primary platform for supporting all newly released devices.</p>
<h3><spanclass="section-number">7.1.2.2. </span><strong>Transparency and Extensibility</strong><aclass="headerlink"href="#transparency-and-extensibility"title="Link to this heading"></a></h3>
<p>Orbbec SDK_v2 is fully open-source, allowing developers to directly access the underlying implementation for easier debugging, optimization, and secondary development. By contrast, SDK v1 was closed-source, introducing a “black-box” constraint.</p>
<h3><spanclass="section-number">7.1.2.3. </span>Advantages in Maintenance and Updates<aclass="headerlink"href="#advantages-in-maintenance-and-updates"title="Link to this heading"></a></h3>
<p>The v2-main branch offers full-featured support, including new feature development, performance optimization, and bug fixes. The main branch has entered a maintenance-only mode, where only critical bugs may receive limited updates, and no new features are being developed.</p>
</section>
<sectionid="community-and-ecosystem-support">
<h3><spanclass="section-number">7.1.2.4. </span><strong>Community and Ecosystem Support</strong><aclass="headerlink"href="#community-and-ecosystem-support"title="Link to this heading"></a></h3>
<p>With an open-source SDK, developers can directly submit issues and pull requests on GitHub or Gitee, contributing to feature evolution. This not only accelerates problem resolution but also fosters a more open and active Orbbec ecosystem.</p>
<h2><spanclass="section-number">7.1.3. </span>Comparison Between main and v2-main Branches<aclass="headerlink"href="#comparison-between-main-and-v2-main-branches"title="Link to this heading"></a></h2>
<sectionid="launch-file-differences">
<h3><spanclass="section-number">7.1.3.1. </span><strong>Launch File Differences</strong><aclass="headerlink"href="#launch-file-differences"title="Link to this heading"></a></h3>
<olclass="simple">
<li><p>In v2-main, new low-power launch file has been added for the Gemini 330 series:</p>
<li><p>v2-main introduces support for <strong>Gemini 435Le</strong>, <strong>Gemini 345</strong>, and <strong>Gemini 345Lg</strong> cameras.</p></li>
<li><p>Since <strong>OrbbecSDK_v2 only supports UVC devices</strong>, the range of camera models supported in v2-main is slightly narrower than in main. Detailed information is provided in the table below.</p></li>
<h3><spanclass="section-number">7.1.3.2. </span><strong>Parameter Differences</strong><aclass="headerlink"href="#parameter-differences"title="Link to this heading"></a></h3>
<p><strong>New Parameters in v2-main (not available in main)</strong></p>
<tableborder="1"class="docutils">
<thead>
<tr>
<th><strong>Parameter Name</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>Description</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>upgrade_firmware</td>
<td>-</td>
<td>Added</td>
<td>Firmware upgrade path</td>
</tr>
<tr>
<td>preset_firmware_path</td>
<td>-</td>
<td>Added</td>
<td>Preset firmware file path</td>
</tr>
<tr>
<td>load_config_json_file_path</td>
<td>-</td>
<td>Added</td>
<td>Load JSON configuration</td>
</tr>
<tr>
<td>export_config_json_file_path</td>
<td>-</td>
<td>Added</td>
<td>Export JSON configuration</td>
</tr>
<tr>
<td>uvc_backend</td>
<td>-</td>
<td>Added</td>
<td>libuvc / v4l2 backend selection</td>
</tr>
<tr>
<td>enable_color_auto_exposure_priority</td>
<td>-</td>
<td>Added</td>
<td>AE priority control</td>
</tr>
<tr>
<td>color_flip</td>
<td>-</td>
<td>Added</td>
<td>Color image vertical flip</td>
</tr>
<tr>
<td>color_mirror</td>
<td>-</td>
<td>Added</td>
<td>Color image horizontal mirror</td>
</tr>
<tr>
<td>depth_flip</td>
<td>-</td>
<td>Added</td>
<td>Depth image vertical flip</td>
</tr>
<tr>
<td>depth_mirror</td>
<td>-</td>
<td>Added</td>
<td>Depth image horizontal mirror</td>
</tr>
<tr>
<td>left_ir_flip</td>
<td>-</td>
<td>Added</td>
<td>Left IR vertical flip</td>
</tr>
<tr>
<td>left_ir_mirror</td>
<td>-</td>
<td>Added</td>
<td>Left IR horizontal mirror</td>
</tr>
<tr>
<td>right_ir_flip</td>
<td>-</td>
<td>Added</td>
<td>Right IR vertical flip</td>
</tr>
<tr>
<td>right_ir_mirror</td>
<td>-</td>
<td>Added</td>
<td>Right IR horizontal mirror</td>
</tr>
<tr>
<td>enable_left_ir_sequence_id_filter</td>
<td>-</td>
<td>Added</td>
<td>Left IR sequence ID filter</td>
</tr>
<tr>
<td>enable_right_ir_sequence_id_filter</td>
<td>-</td>
<td>Added</td>
<td>Right IR sequence ID filter</td>
</tr>
<tr>
<td>enable_accel_data_correction</td>
<td>-</td>
<td>Added</td>
<td>Accelerometer data correction</td>
</tr>
<tr>
<td>enable_gyro_data_correction</td>
<td>-</td>
<td>Added</td>
<td>Gyroscope data correction</td>
</tr>
<tr>
<td>enumerate_net_device</td>
<td>-</td>
<td>Added</td>
<td>Automatic enumeration of network devices</td>
</tr>
<tr>
<td>net_device_ip</td>
<td>-</td>
<td>Added</td>
<td>Network device IP address</td>
</tr>
<tr>
<td>net_device_port</td>
<td>-</td>
<td>Added</td>
<td>Network device port</td>
</tr>
<tr>
<td>exposure_range_mode</td>
<td>-</td>
<td>Added</td>
<td>Exposure range mode: default / ultimate / regular</td>
</table><p><strong>Removed Parameters (main only, removed in v2-main)</strong></p>
<tableborder="1"class="docutils">
<thead>
<tr>
<th><strong>Parameter</strong></th>
<th><strong>Description</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D reconstruction mode deprecated</td>
</tr>
<tr>
<td>enable_hardware_reset</td>
<td>Hardware reset interface deprecated</td>
</tr>
<tr>
<td>enable_hardware_noise_removal_filter</td>
<td>Hardware noise removal filter deprecated</td>
</tr>
<tr>
<td>laser_on_off_mode</td>
<td>Old laser on/off interface, replaced by interleave / laser_index</td>
</tr>
<tr>
<td>enable_3d_reconstruction_mode</td>
<td>3D reconstruction mode repeated; no longer used in v2-main</td>
</tr>
<tr>
<td>device_preset</td>
<td>Some logic migrated to new firmware / interleave parameters</td>
</tr>
<tr>
<td>enable_trigger_out</td>
<td>Old software trigger interface replaced by software_trigger_enabled</td>
</tr>
<tr>
<td>retry_on_usb3_detection_failure</td>
<td>Optional; logic adjusted or removed in v2-main</td>
</tr>
<tr>
<td>enable_color_undistortion</td>
<td>Old interface logic integrated elsewhere; still exists in v2-main but usage may be adjusted</td>
</tr>
</tbody>
</table></section>
<sectionid="topic-differences">
<h3><spanclass="section-number">7.1.3.3. </span><strong>Topic Differences</strong><aclass="headerlink"href="#topic-differences"title="Link to this heading"></a></h3>
<p><strong>v2-main</strong> adds the following topics based on main:</p>
<tableborder="1"class="docutils">
<thead>
<tr>
<th><strong>Topic</strong></th>
<th><strong>main</strong></th>
<th><strong>v2-main</strong></th>
<th><strong>Description</strong></th>
</tr>
</thead>
<tbody>
<tr>
<td>/camera/device_status</td>
<td>-</td>
<td>Added</td>
<td>Publishes device status (frame rate delay, device connection status, etc.)</td>
</tr>
</tbody>
</table></section>
<sectionid="service-differences">
<h3><spanclass="section-number">7.1.3.4. </span><strong>Service Differences</strong><aclass="headerlink"href="#service-differences"title="Link to this heading"></a></h3>
<p><strong>v2-main</strong> adds the following services based on main:</p>
<ahref="building_a_Debian_Package.html"class="btn btn-neutral float-right"title="7.2. Building a Debian Package"accesskey="n"rel="next">Next <spanclass="fa fa-arrow-circle-right"aria-hidden="true"></span></a>
