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jj
2025-05-06 18:27:19 +08:00
parent 74992c2b82
commit 0eb7f44526
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README.MD
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@@ -38,7 +38,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
</tr> </tr>
<tr> <tr>
<td>Gemini 335L</td> <td>Gemini 335L</td>
<td>full maintenance</td> <td>Full maintenance</td>
<td>Recommended for new designs</td> <td>Recommended for new designs</td>
</tr> </tr>
<tr> <tr>
@@ -261,7 +261,7 @@ Launch camera node
```bash ```bash
. ./install/setup.bash . ./install/setup.bash
ros2 run orbbec_camera list_devices_node #Check if the camera is connected ros2 run orbbec_camera list_devices_node #Check if the camera is connected
ros2 launch orbbec_camera gemini_330_series.launch.py # or other launch file, see below table ros2 launch orbbec_camera gemini_330_series.launch.py # Or other launch file, see below table
``` ```
- On terminal 2 - On terminal 2
docs/launch_parameters.md
+18 -18
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@@ -7,7 +7,7 @@ The following are the launch parameters available:
* **camera_name** * **camera_name**
* Start the node namespace * Start the node namespace
* **depth_registration** * **depth_registration**
* Enables alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. * Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
* **serial_number** * **serial_number**
* The serial number of the camera. This is required when multiple cameras are used * The serial number of the camera. This is required when multiple cameras are used
* **usb_port** * **usb_port**
@@ -23,19 +23,19 @@ The following are the launch parameters available:
* **color_ae_roi_[left|right|top|bottom],depth_ae_roi_[left|right|top|bottom]** * **color_ae_roi_[left|right|top|bottom],depth_ae_roi_[left|right|top|bottom]**
* Set Color and Depth auto exposure ROI. * Set Color and Depth auto exposure ROI.
* **enable_point_cloud** * **enable_point_cloud**
* Enables the point cloud * Enable the point cloud
* **enable_colored_point_cloud** * **enable_colored_point_cloud**
* Enables the RGB point cloud * Enable the RGB point cloud
* **cloud_frame_id** * **cloud_frame_id**
* Modifying the frame_id name within the ros message * Modify the frame_id name within the ros message
* **connection_delay** * **connection_delay**
* The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging * The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging
* **[color|depth|left_ir|right_ir|ir]_width,[color|depth|left_ir|right_ir|ir]_height,[color|depth|left_ir|right_ir|ir]_fps,[color|depth|left_ir|right_ir|ir]_format** * **[color|depth|left_ir|right_ir|ir]_width,[color|depth|left_ir|right_ir|ir]_height,[color|depth|left_ir|right_ir|ir]_fps,[color|depth|left_ir|right_ir|ir]_format**
* The resolution and frame rate of the sensor stream * The resolution and frame rate of the sensor stream
* **enable_color_auto_exposure_priority** * **enable_color_auto_exposure_priority**
* Enables the Color auto exposure priority * Enable the Color auto exposure priority
* **enable_color_auto_exposure** * **enable_color_auto_exposure**
* Enables the Color auto exposure * Enable the Color auto exposure
* **color_exposure** * **color_exposure**
* Set the Color exposure * Set the Color exposure
* **color_gain** * **color_gain**
@@ -59,17 +59,17 @@ The following are the launch parameters available:
* **color_hue** * **color_hue**
* Set the Color hue * Set the Color hue
* **enable_color_backlight_compenstation** * **enable_color_backlight_compenstation**
* Enables the Color backlight compenstation * Enable the Color backlight compenstation
* **enable_color_decimation_filter** * **enable_color_decimation_filter**
* Enables the Color decimation filter * Enable the Color decimation filter
* **color_decimation_filter_scale** * **color_decimation_filter_scale**
* Set the Color decimation filter scale * Set the Color decimation filter scale
* **enable_depth_auto_exposure_priority** * **enable_depth_auto_exposure_priority**
* Enables the Depth auto exposure priority * Enable the Depth auto exposure priority
* **depth_brightness** * **depth_brightness**
* Set the Depth brightness * Set the Depth brightness
* **enable_ir_auto_exposure** * **enable_ir_auto_exposure**
* Enables the IR auto exposure * Enable the IR auto exposure
* **ir_exposure** * **ir_exposure**
* Set the IR exposure * Set the IR exposure
* **ir_gain** * **ir_gain**
@@ -79,15 +79,15 @@ The following are the launch parameters available:
* **ir_brightness** * **ir_brightness**
* Set the IR brightness * Set the IR brightness
* **enable_sync_output_accel_gyro** * **enable_sync_output_accel_gyro**
* Enables the sync accel_gyro,and output IMU topic real-time data * Enable the sync accel_gyro,and output IMU topic real-time data
* **enable_accel** * **enable_accel**
* Enables the Accelerometer,and output Accelerometer info topic data * Enable the Accelerometer,and output Accelerometer info topic data
* **accel_rate** * **accel_rate**
* The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz` * The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`
* **accel_range** * **accel_range**
* The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera * The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera
* **enable_gyro** * **enable_gyro**
* Enables the gyroscope,and output gyroscope info topic data * Enable the gyroscope,and output gyroscope info topic data
* **gyro_rate** * **gyro_rate**
* The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera * The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera
* **gyro_range** * **gyro_range**
@@ -98,7 +98,7 @@ The following are the launch parameters available:
* **angular_vel_cov** * **angular_vel_cov**
* Covariance of the angular velocity * Covariance of the angular velocity
* **publish_tf** * **publish_tf**
* Enables the TF publish * Enable the TF publish
* **tf_publish_rate** * **tf_publish_rate**
* Set Rate of the TF publication * Set Rate of the TF publication
* **ir_info_url** * **ir_info_url**
@@ -114,13 +114,13 @@ The following are the launch parameters available:
* **log_level** * **log_level**
* SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal` * SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`
* **enable_publish_extrinsic** * **enable_publish_extrinsic**
* Enables the extrinsics publish * Enable the extrinsics publish
* **enable_d2c_viewer** * **enable_d2c_viewer**
* Publishes the D2C overlay image (for testing only) * Publishes the D2C overlay image (for testing only)
* **enable_hardware_d2d** * **enable_hardware_d2d**
* false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth * `false`: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth
* **enable_ldp** * **enable_ldp**
* Enables the LDP * Enable the LDP
* **ldp_power_level** * **ldp_power_level**
* Set power level of the LDP * Set power level of the LDP
* **sync_mode** * **sync_mode**
@@ -134,7 +134,7 @@ The following are the launch parameters available:
* **trigger_out_delay_us** * **trigger_out_delay_us**
* The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) * The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
* **trigger_out_enabled** * **trigger_out_enabled**
* Enables the trigger out signal,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) * Enable the trigger out signal,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
* **frames_per_trigger** * **frames_per_trigger**
* The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) * The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD)
* **software_trigger_period** * **software_trigger_period**