i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-09 22:29:48 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
ob-yalian
2026-10-08 09:43:12 +08:00
parent fd7f3f99f6
commit 1dc26fae83
12 changed files with 2 additions and 336 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst
-1
View File
@@ -26,7 +26,6 @@ Multi-Camera
multi_camera/multi_camera_synced.md
multi_camera/multi_camera_synced_verification_tool.md
multi_camera/gmsl_camera.md
multi_camera/action_command.md
Configuration & Modes
docs/en/source/camera_devices/5_advanced_guide/configuration/enhanced_depth_filter.md
+1 -1
View File
@@ -7,7 +7,7 @@ The LingBot Enhanced Depth Filter (`EnhancedDepthFilter`) uses both color and de
EnhancedDepthFilter requires:
* an NVIDIA Jetson running Linux ARM64;
* a supported Gemini 330 or Gemini 340 series camera;
* a supported Gemini 330 series camera;
* CUDA Runtime 12;
* TensorRT 10 Runtime;
* a valid LingBot-Depth License;
docs/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.md
-101
View File
@@ -1,101 +0,0 @@
# Action Command
The source files are in [action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/action_command).
This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one
host-side Action Command sender. The sender is intentionally created once at the top level because
a GVCP Action Command can trigger multiple cameras.
## Requirements
- Gemini 335Le firmware 1.8.24 or later
- Orbbec SDK 2.10.2 or later
- Both cameras and the host on the same network
Before running the example, change the two `net_device_ip` values in
`multi_action_command.launch.py` to match the cameras.
## Start the cameras and sender
```bash
ros2 launch orbbec_camera multi_action_command.launch.py
```
The launch file creates these device-scoped configuration services and one network-scoped sender:
```text
/camera_01/get_action_config
/camera_01/set_action_config
/camera_02/get_action_config
/camera_02/set_action_config
/action_command_node/send_action_command
```
## Configure the cameras
Configure Action Signal block 0 on both cameras with matching keys and masks:
```bash
ros2 service call /camera_01/set_action_config \
orbbec_camera_msgs/srv/SetActionConfig \
"{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
ros2 service call /camera_02/set_action_config \
orbbec_camera_msgs/srv/SetActionConfig \
"{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
```
Read the configuration back when needed:
```bash
ros2 service call /camera_01/get_action_config \
orbbec_camera_msgs/srv/GetActionConfig \
"{selector: 0}"
```
## Trigger the group
The service exposes three trigger modes. Every camera whose device key, group key, and group mask
match the request will be triggered.
### Immediate trigger
Set `trigger_mode` to `0`. The delay and scheduled time fields must be zero:
```bash
ros2 service call /action_command_node/send_action_command \
orbbec_camera_msgs/srv/SendActionCommand \
"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}"
```
### Relative-delay trigger
Set `trigger_mode` to `1` and provide a positive delay in milliseconds. The node reads the host
system clock, adds the delay, and converts the result to the absolute GVCP/PTP timestamp expected by
the SDK. This example schedules the command one second in the future:
```bash
ros2 service call /action_command_node/send_action_command \
orbbec_camera_msgs/srv/SendActionCommand \
"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}"
```
The host `CLOCK_REALTIME` must be synchronized to the same PTP domain as the cameras, for example
by using `phc2sys`. The launch file enables camera PTP synchronization, but it does not configure
the host PTP services. Choose a delay long enough for the command to reach the cameras before its
target time.
### Absolute PTP-time trigger
Set `trigger_mode` to `2`, leave `delay_ms` at zero, and provide a future encoded PTP timestamp. The
upper 32 bits contain seconds and the lower 32 bits contain nanoseconds:
```bash
ros2 service call /action_command_node/send_action_command \
orbbec_camera_msgs/srv/SendActionCommand \
"{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>}"
```
The response returns `encoded_scheduled_time`, the exact 64-bit value sent to the SDK. For delayed
triggering this is the timestamp calculated by the node. `success: true` means the host dispatched
the GVCP command; the protocol does not return a device acknowledgment.