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docs: remove AE/AWB lock example and action command documentation; update related guides

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2026-10-08 09:43:12 +08:00
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docs/en/source/camera_devices/4_application_guide/application_guide.rst
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@@ -12,4 +12,3 @@ This chapter introduces application development with the SDK, including launch p
coordinate_and_tf.md
compressed_image.md
point_cloud.md
examples/ae_awb_lock.md
docs/en/source/camera_devices/4_application_guide/examples/ae_awb_lock.md
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# AE/AWB Lock Test
The source file is in [ae_awb_lock](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/ae_awb_lock).
This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual
lock-in flow through the camera driver's services and color-frame metadata.
Run the camera driver and this sample in the same namespace:
```bash
ros2 run orbbec_camera ae_awb_lock_test_node --ros-args -r __ns:=/camera
```
Send a goal and print feedback:
```bash
ros2 action send_goal \
/camera/run_ae_awb_lock_test \
orbbec_camera_msgs/action/RunAeAwbLockTest \
"{timeout_ms: 10000}" \
--feedback
```
The sample subscribes to the relative `color/metadata` topic. It enables auto exposure and auto
white balance, waits until the SDK status equals `1`, captures exposure, color gain, and color
temperature from the latest color-frame metadata, and reads AWB R/B/G gains through the structured
property service. It then disables the auto controls and writes the captured values back in this
order:
1. Color exposure
2. Color gain
3. AWB R/B/G gains
4. Color temperature
The final AWB gain readback must exactly match the captured value. Other readback differences are
reported as warnings because the device may quantize those controls. On failure or cancellation,
the sample restores auto exposure and auto white balance.
Every feedback phase contains a fresh status value read from the camera service. The
`waiting_for_services` feedback is published after all required services become available, because
the status cannot be read before its service is ready.
The color stream must be enabled, and `/camera/color/metadata` must be available when using the
`/camera` namespace. The action fails instead of writing default values if no metadata arrives
before the goal timeout or if `exposure`, `gain`, or `white_balance` is missing. The goal timeout
covers the main workflow, including service discovery, service calls, convergence, capture,
writeback, and verification. Restoring auto exposure and auto white balance after a failure uses a
separate best-effort timeout.
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -154,35 +154,6 @@ ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: tru
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
#### Gemini 330 AE/AWB Debugging
On Gemini 330 series devices with firmware `1.8.21` or later, the following services are advertised when the corresponding SDK properties are supported:
* `/camera/get_color_ae_awb_status`
Returns the device AE/AWB status value.
```bash
ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_color_awb_gain`
Returns the raw Q8.8 `r_gain`, `b_gain`, and `g_gain` values.
```bash
ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
```
* `/camera/set_color_awb_gain`
Sets raw Q8.8 RGB channel gains. Color auto white balance must be disabled before setting the gains.
```bash
ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
```
* `/camera/set_laser_enable`
```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'