[docs]Update docs

2026-10-07 05:27:45 +08:00 · 2024-12-18 18:35:58 +08:00
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+.. 这一页是模块目录树
+..     :titlesonly:
+
+
+.. image:: ../image/product_h5.png
+
+======================================================
+
+
+Tools
+======================================================
+
+This chapter details the tools integrated with Orbbec SDK ROS2 and their usage methods, providing a guide for developers to effectively utilize these functionalities in robotic applications.
+
+
+
+
+======================================================
+
+.. toctree::
+    :maxdepth: 2
+    :caption: This Section Covers:
+
+
+
+    tools.md
+
+
+======================================================
+
+.. image:: ../image/product_h1.png
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+# Some practical tools
+
+| Tool Name                     | effect                                                                                                         |
+| ----------------------------- | -------------------------------------------------------------------------------------------------------------- |
+| list_devices_node             | check the camera USB port number                                                                               |
+| list_depth_work_mode_node     | view depth work modes                                                                                          |
+| list_camera_profile_mode_node | check which profiles the camera supports                                                                       |
+| topic_statistics_node         | topic statistics                                                                                               |
+| multi_save_rgbir_node         | Multi camera sync save image, used to test synchronization quality                                             |
+| metadata_save_files_node      | Save the depth, left and right ir images and metadata data                                                     |
+| metadata_export_files_node    | Compared with metadata_save_files_node, it has one more color collection but reduces some metadata data saving |
+
+## list_devices_node
+
+If you have connected multiple cameras, but you want to start a specific camera, you can run the list_devices_node tool to view the USB port of each camera.
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+![Multi_camera1](../image/list_devices_node.png)
+
+## list_depth_work_mode_node
+
+OrbbecSDK_ROS2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Femto and Femto Bolt cameras.
+
+View depth work modes:
+
+```bash
+ros2 run orbbec_camera list_depth_work_mode_node
+```
+
+![Multi_camera1](../image/list_depth_work_mode_node.png)
+
+## list_camera_profile_mode_node
+
+Check which profiles the camera supports:
+
+```bash
+ros2 run orbbec_camera list_camera_profile_mode_node
+```
+
+![Multi_camera1](../image/list_camera_profile_mode_node.png)
+
+The above image only shows part of the output
+
+## multi_save_rgbir_node
+
+The purpose of multi_save_rgbir_node is to test the synchronization effect of using multiple Orbbec cameras in OrbbecSDK ROS2
+
+This tool will save the color and left IR images of each camera and the timestamp information
+
+The configuration parameter file of this tool node is multi_save_rgbir_params.json
+
+![Multi_camera1](../image/multi_save_rgbir_node1.png)
+
+* The parameter order of usb_ports: "Host", "Slave 1", "Slave 2", "Slave 3". Fill in as many usb_ports as there are cameras.
+* ir_topics and color_topics are topic names. Fill in as many names as there are cameras.
+
+## metadata_save_files_node
+
+The metadata_save_files_node tool will save the depth, left and right IR, images and metadata data
+
+The configuration parameter file of this tool node is metadata_save_params.json
+
+![Multi_camera1](../image/metadata_save_params.png)
+
+```bash
+ros2 run orbbec_camera metadata_save_files_node
+```
+
+## metadata_export_files_node
+
+The metadata_save_files_node tool will save depth, color, left and right IR images and some metadata data
+
+The configuration parameter file of this tool node is metadata_save_params.json
+
+![Multi_camera1](https://file+.vscode-resource.vscode-cdn.net/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/docs/source/image/metadata_save_params.png)
+
+```bash
+ros2 run orbbec_camera metadata_export_files_node
+```