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docs: remove AE/AWB lock example and action command documentation; update related guides
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ob-yalian
@@ -12,4 +12,3 @@ This chapter introduces application development with the SDK, including launch p
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coordinate_and_tf.md
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compressed_image.md
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point_cloud.md
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examples/ae_awb_lock.md
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@@ -1,48 +0,0 @@
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# AE/AWB Lock Test
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The source file is in [ae_awb_lock](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/ae_awb_lock).
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This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual
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lock-in flow through the camera driver's services and color-frame metadata.
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Run the camera driver and this sample in the same namespace:
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```bash
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ros2 run orbbec_camera ae_awb_lock_test_node --ros-args -r __ns:=/camera
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```
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Send a goal and print feedback:
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```bash
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ros2 action send_goal \
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/camera/run_ae_awb_lock_test \
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orbbec_camera_msgs/action/RunAeAwbLockTest \
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"{timeout_ms: 10000}" \
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--feedback
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```
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The sample subscribes to the relative `color/metadata` topic. It enables auto exposure and auto
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white balance, waits until the SDK status equals `1`, captures exposure, color gain, and color
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temperature from the latest color-frame metadata, and reads AWB R/B/G gains through the structured
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property service. It then disables the auto controls and writes the captured values back in this
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order:
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1. Color exposure
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2. Color gain
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3. AWB R/B/G gains
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4. Color temperature
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The final AWB gain readback must exactly match the captured value. Other readback differences are
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reported as warnings because the device may quantize those controls. On failure or cancellation,
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the sample restores auto exposure and auto white balance.
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Every feedback phase contains a fresh status value read from the camera service. The
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`waiting_for_services` feedback is published after all required services become available, because
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the status cannot be read before its service is ready.
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The color stream must be enabled, and `/camera/color/metadata` must be available when using the
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`/camera` namespace. The action fails instead of writing default values if no metadata arrives
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before the goal timeout or if `exposure`, `gain`, or `white_balance` is missing. The goal timeout
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covers the main workflow, including service discovery, service calls, convergence, capture,
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writeback, and verification. Restoring auto exposure and auto white balance after a failure uses a
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separate best-effort timeout.
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@@ -154,35 +154,6 @@ ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: tru
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ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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#### Gemini 330 AE/AWB Debugging
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On Gemini 330 series devices with firmware `1.8.21` or later, the following services are advertised when the corresponding SDK properties are supported:
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* `/camera/get_color_ae_awb_status`
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Returns the device AE/AWB status value.
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```bash
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ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/get_color_awb_gain`
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Returns the raw Q8.8 `r_gain`, `b_gain`, and `g_gain` values.
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```bash
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ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
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```
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* `/camera/set_color_awb_gain`
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Sets raw Q8.8 RGB channel gains. Color auto white balance must be disabled before setting the gains.
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```bash
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ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
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```
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* `/camera/set_laser_enable`
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```bash
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ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
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@@ -26,7 +26,6 @@ Multi-Camera
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multi_camera/multi_camera_synced.md
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multi_camera/multi_camera_synced_verification_tool.md
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multi_camera/gmsl_camera.md
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multi_camera/action_command.md
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Configuration & Modes
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+1
-1
@@ -7,7 +7,7 @@ The LingBot Enhanced Depth Filter (`EnhancedDepthFilter`) uses both color and de
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EnhancedDepthFilter requires:
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* an NVIDIA Jetson running Linux ARM64;
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* a supported Gemini 330 or Gemini 340 series camera;
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* a supported Gemini 330 series camera;
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* CUDA Runtime 12;
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* TensorRT 10 Runtime;
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* a valid LingBot-Depth License;
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@@ -1,101 +0,0 @@
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# Action Command
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The source files are in [action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/action_command).
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This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one
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host-side Action Command sender. The sender is intentionally created once at the top level because
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a GVCP Action Command can trigger multiple cameras.
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## Requirements
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- Gemini 335Le firmware 1.8.24 or later
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- Orbbec SDK 2.10.2 or later
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- Both cameras and the host on the same network
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Before running the example, change the two `net_device_ip` values in
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`multi_action_command.launch.py` to match the cameras.
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## Start the cameras and sender
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```bash
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ros2 launch orbbec_camera multi_action_command.launch.py
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```
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The launch file creates these device-scoped configuration services and one network-scoped sender:
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```text
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/camera_01/get_action_config
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/camera_01/set_action_config
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/camera_02/get_action_config
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/camera_02/set_action_config
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/action_command_node/send_action_command
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```
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## Configure the cameras
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Configure Action Signal block 0 on both cameras with matching keys and masks:
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```bash
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ros2 service call /camera_01/set_action_config \
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orbbec_camera_msgs/srv/SetActionConfig \
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"{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
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ros2 service call /camera_02/set_action_config \
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orbbec_camera_msgs/srv/SetActionConfig \
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"{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
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```
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Read the configuration back when needed:
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```bash
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ros2 service call /camera_01/get_action_config \
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orbbec_camera_msgs/srv/GetActionConfig \
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"{selector: 0}"
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```
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## Trigger the group
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The service exposes three trigger modes. Every camera whose device key, group key, and group mask
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match the request will be triggered.
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### Immediate trigger
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Set `trigger_mode` to `0`. The delay and scheduled time fields must be zero:
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```bash
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}"
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```
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### Relative-delay trigger
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Set `trigger_mode` to `1` and provide a positive delay in milliseconds. The node reads the host
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system clock, adds the delay, and converts the result to the absolute GVCP/PTP timestamp expected by
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the SDK. This example schedules the command one second in the future:
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```bash
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}"
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```
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The host `CLOCK_REALTIME` must be synchronized to the same PTP domain as the cameras, for example
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by using `phc2sys`. The launch file enables camera PTP synchronization, but it does not configure
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the host PTP services. Choose a delay long enough for the command to reach the cameras before its
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target time.
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### Absolute PTP-time trigger
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Set `trigger_mode` to `2`, leave `delay_ms` at zero, and provide a future encoded PTP timestamp. The
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upper 32 bits contain seconds and the lower 32 bits contain nanoseconds:
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```bash
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 2, delay_ms: 0, scheduled_time: <PTP_TIMESTAMP>}"
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```
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The response returns `encoded_scheduled_time`, the exact 64-bit value sent to the SDK. For delayed
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triggering this is the timestamp calculated by the node. `success: true` means the host dispatched
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the GVCP command; the protocol does not return a device acknowledgment.
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