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docs: document Gemini 301 FPS constraint

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ob-yalian
2026-09-16 17:08:37 +08:00
parent f09415949c
commit 18911b1ab0
4 changed files with 8 additions and 2 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -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`**
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -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}]}"