From 0691046db59332e2ce52860a686bfd909334869a Mon Sep 17 00:00:00 2001
From: slz <shenlanzhou@orbbec.com>
Date: Fri, 11 Sep 2026 17:01:28 +0800
Subject: [PATCH] fix: update Gemini 301 launch defaults

---
 .../launch/gemini_301_series.launch.py        | 36 +++++++++----------
 1 file changed, 18 insertions(+), 18 deletions(-)

diff --git a/orbbec_camera/launch/gemini_301_series.launch.py b/orbbec_camera/launch/gemini_301_series.launch.py
index d78fc15a..2ef78c50 100644
--- a/orbbec_camera/launch/gemini_301_series.launch.py
+++ b/orbbec_camera/launch/gemini_301_series.launch.py
@@ -116,11 +116,11 @@ def generate_launch_description():
         DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
         DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
         DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
-        DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion
-        DeclareLaunchArgument('color_width', default_value='848'),
-        DeclareLaunchArgument('color_height', default_value='530'),
-        DeclareLaunchArgument('color_fps', default_value='30'),
-        DeclareLaunchArgument('color_format', default_value='YUYV'),
+        DeclareLaunchArgument('ae_strategy', default_value='default'), # default or motion
+        DeclareLaunchArgument('color_width', default_value='0'),
+        DeclareLaunchArgument('color_height', default_value='0'),
+        DeclareLaunchArgument('color_fps', default_value='0'),
+        DeclareLaunchArgument('color_format', default_value='ANY'),
         DeclareLaunchArgument('enable_color', default_value='true'),
         DeclareLaunchArgument('color_qos', default_value='default'),
         DeclareLaunchArgument('color_qos_history', default_value='default'),
@@ -158,11 +158,11 @@ def generate_launch_description():
         DeclareLaunchArgument('color_denoising_level', default_value='-1'),#0: Auto; 1-8: higher values indicate stronger denoising.
         #Note: The color_denoising_level configuration is supported only when AE is enabled, and requires new firmware support.
 
-        DeclareLaunchArgument('depth_width', default_value='848'),
-        DeclareLaunchArgument('depth_height', default_value='530'),
+        DeclareLaunchArgument('depth_width', default_value='0'),
+        DeclareLaunchArgument('depth_height', default_value='0'),
         DeclareLaunchArgument('depth_decimation_factor', default_value='1'),
-        DeclareLaunchArgument('depth_fps', default_value='30'),
-        DeclareLaunchArgument('depth_format', default_value='Y16'),
+        DeclareLaunchArgument('depth_fps', default_value='0'),
+        DeclareLaunchArgument('depth_format', default_value='ANY'),
         DeclareLaunchArgument('enable_depth', default_value='true'),
         DeclareLaunchArgument('depth_qos', default_value='default'),
         DeclareLaunchArgument('depth_qos_history', default_value='default'),
@@ -178,11 +178,11 @@ def generate_launch_description():
         DeclareLaunchArgument('depth_ae_roi_top', default_value='-1'),
         DeclareLaunchArgument('depth_ae_roi_bottom', default_value='-1'),
         DeclareLaunchArgument('mean_intensity_set_point', default_value='-1'),
-        DeclareLaunchArgument('left_ir_width', default_value='848'),
-        DeclareLaunchArgument('left_ir_height', default_value='530'),
+        DeclareLaunchArgument('left_ir_width', default_value='0'),
+        DeclareLaunchArgument('left_ir_height', default_value='0'),
         DeclareLaunchArgument('left_ir_decimation_factor', default_value='1'),
-        DeclareLaunchArgument('left_ir_fps', default_value='30'),
-        DeclareLaunchArgument('left_ir_format', default_value='Y8'),
+        DeclareLaunchArgument('left_ir_fps', default_value='0'),
+        DeclareLaunchArgument('left_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_left_ir', default_value='false'),
         DeclareLaunchArgument('left_ir_qos', default_value='default'),
         DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
@@ -193,11 +193,11 @@ def generate_launch_description():
         DeclareLaunchArgument('left_ir_mirror', default_value='false'),
         DeclareLaunchArgument('enable_left_ir_sequence_id_filter', default_value='false'),
         DeclareLaunchArgument('left_ir_sequence_id_filter_id', default_value='-1'),
-        DeclareLaunchArgument('right_ir_width', default_value='848'),
-        DeclareLaunchArgument('right_ir_height', default_value='530'),
+        DeclareLaunchArgument('right_ir_width', default_value='0'),
+        DeclareLaunchArgument('right_ir_height', default_value='0'),
         DeclareLaunchArgument('right_ir_decimation_factor', default_value='1'),
-        DeclareLaunchArgument('right_ir_fps', default_value='30'),
-        DeclareLaunchArgument('right_ir_format', default_value='Y8'),
+        DeclareLaunchArgument('right_ir_fps', default_value='0'),
+        DeclareLaunchArgument('right_ir_format', default_value='ANY'),
         DeclareLaunchArgument('enable_right_ir', default_value='false'),
         DeclareLaunchArgument('right_ir_qos', default_value='default'),
         DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
@@ -291,7 +291,7 @@ def generate_launch_description():
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
         DeclareLaunchArgument('enable_firmware_log', default_value='false'),
-        DeclareLaunchArgument('enable_fps_boost', default_value='false'),
+        DeclareLaunchArgument('enable_fps_boost', default_value='true'),
         DeclareLaunchArgument('monitor_poll_interval_sec', default_value='-1'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),