From 18911b1ab07bb6f974f2cc1edcf1e15a0f39b75a Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 16 Sep 2026 16:06:15 +0800 Subject: [PATCH] docs: document Gemini 301 FPS constraint --- .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ docs/en/source/camera_devices/4_application_guide/services.md | 2 +- .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ docs/zh/source/camera_devices/4_application_guide/services.md | 2 +- 4 files changed, 8 insertions(+), 2 deletions(-) diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index 366a8470..a1a21a1e 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -67,6 +67,9 @@ The following are the launch parameters available: * For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md). * **`enable_[color|depth|left_ir|right_ir|ir]`** * Enable or disable the corresponding image stream. + +> **Gemini 301 series limitation:** All enabled image streams with an FPS greater than `0` must use the same FPS. The node validates this requirement at startup and when profiles are switched at runtime through `/camera/set_stream_profile`. + * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`** * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`. * **`color_frame_queue_max_frames`**, **`left_color_frame_queue_max_frames`**, **`right_color_frame_queue_max_frames`** diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md index cdbf9b19..f10d7cd6 100644 --- a/docs/en/source/camera_devices/4_application_guide/services.md +++ b/docs/en/source/camera_devices/4_application_guide/services.md @@ -128,7 +128,7 @@ ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: tru * `/camera/set_stream_profile` - Switch one or more enabled image stream profiles while the node is running. `stream_name` accepts `color`, `left_color`, `right_color`, `depth`, `ir`, `left_ir`, and `right_ir`. Specify only the fields to change; use `0` for unchanged numeric fields and an empty string for an unchanged format. The node stops and restarts the streams during the switch. The service reports failure if the requested profile is already active. + Switch one or more enabled image stream profiles while the node is running. `stream_name` accepts `color`, `left_color`, `right_color`, `depth`, `ir`, `left_ir`, and `right_ir`. Specify only the fields to change; use `0` for unchanged numeric fields and an empty string for an unchanged format. The node stops and restarts the streams during the switch. The service reports failure if the requested profile is already active. On Gemini 301 series devices, all enabled image streams with an FPS greater than `0` must use the same FPS; the service validates this requirement. ```bash ros2 service call /camera/set_stream_profile orbbec_camera_msgs/srv/SetStreamProfile "{profiles: [{stream_name: color, width: 1280, height: 720, fps: 30, format: MJPG}]}" diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index 84bbec55..2a83ef2d 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -67,6 +67,9 @@ * 如需降低 CPU 使用率，可参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md) 中的 `color_format` 建议。 * **`enable_[color|depth|left_ir|right_ir|ir]`** * 启用或关闭对应图像流。 + +> **Gemini 301 系列限制：** 启用且 FPS 大于 `0` 的所有图像流必须使用相同的 FPS。节点启动和通过 `/camera/set_stream_profile` 运行时切换 profile 时都会校验此限制。 + * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`** * 设置下采样倍数。可用 `ros2 run orbbec_camera list_camera_profile_mode_node` 查看可设置分辨率。**默认值：** `1`。 * **`color_frame_queue_max_frames`**、**`left_color_frame_queue_max_frames`**、**`right_color_frame_queue_max_frames`** diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md index fd169984..51b70183 100644 --- a/docs/zh/source/camera_devices/4_application_guide/services.md +++ b/docs/zh/source/camera_devices/4_application_guide/services.md @@ -128,7 +128,7 @@ ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: tru * `/camera/set_stream_profile` - 用于在节点运行期间切换一个或多个已启用图像流的 Profile。`stream_name` 支持 `color`、`left_color`、`right_color`、`depth`、`ir`、`left_ir` 和 `right_ir`。宽、高、帧率或格式可以只填写需要修改的字段；未修改的数值字段填写 `0`，格式填写空字符串。切换时节点会停止并重新启动数据流；如果目标 Profile 已经生效，服务会返回失败。 + 用于在节点运行期间切换一个或多个已启用图像流的 Profile。`stream_name` 支持 `color`、`left_color`、`right_color`、`depth`、`ir`、`left_ir` 和 `right_ir`。宽、高、帧率或格式可以只填写需要修改的字段；未修改的数值字段填写 `0`，格式填写空字符串。切换时节点会停止并重新启动数据流；如果目标 Profile 已经生效，服务会返回失败。Gemini 301 系列要求所有启用且 FPS 大于 `0` 的图像流使用相同 FPS，服务会校验此限制。 ```bash ros2 service call /camera/set_stream_profile orbbec_camera_msgs/srv/SetStreamProfile "{profiles: [{stream_name: color, width: 1280, height: 720, fps: 30, format: MJPG}]}"