From 220b4ea0dd906d7d1f0424f5f8370458bf51a453 Mon Sep 17 00:00:00 2001
From: ob-yalian <ob-yalian@users.noreply.github.com>
Date: Sun, 4 Jan 2026 01:12:38 +0000
Subject: [PATCH] deploy: fd13aba31f9deba8e6141129a3382adacdbadc82

---
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diff --git a/en/.doctrees/index.doctree b/en/.doctrees/index.doctree
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diff --git a/en/.doctrees/source/2_installation/build_the_package.doctree b/en/.doctrees/source/2_installation/build_the_package.doctree
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diff --git a/en/.doctrees/source/1_overview/introduction.doctree b/en/.doctrees/source/camera_devices/1_overview/introduction.doctree
similarity index 94%
rename from en/.doctrees/source/1_overview/introduction.doctree
rename to en/.doctrees/source/camera_devices/1_overview/introduction.doctree
index 43c7cc53130d4be658b3485b27d958dc6aabc43f..3ce04dd6d18b92dfc2a201a911e4865877652ae7 100644
GIT binary patch
delta 41
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delta 26
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diff --git a/en/.doctrees/source/1_overview/orbbecsdk_overview.doctree b/en/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree
similarity index 89%
rename from en/.doctrees/source/1_overview/orbbecsdk_overview.doctree
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index d1abc91a0375876c6e6f74443883b41b74726773..d7178bf0e7dbfedab8c6871076fa4b322da5de11 100644
GIT binary patch
delta 129
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delta 73
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diff --git a/en/.doctrees/source/1_overview/overview.doctree b/en/.doctrees/source/camera_devices/1_overview/overview.doctree
similarity index 72%
rename from en/.doctrees/source/1_overview/overview.doctree
rename to en/.doctrees/source/camera_devices/1_overview/overview.doctree
index f79c6fe102faff765d25af9e2ebbfe6d511f47a5..9d6be2c2dc88229f91ae223e980d8582b3e1e91e 100644
GIT binary patch
delta 121
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delta 65
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diff --git a/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree b/en/.doctrees/source/camera_devices/2_installation/build_the_package.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..92de05eae994b4dce9f30de98e712a2879b5cc9a
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diff --git a/en/.doctrees/source/2_installation/installation.doctree b/en/.doctrees/source/camera_devices/2_installation/installation.doctree
similarity index 70%
rename from en/.doctrees/source/2_installation/installation.doctree
rename to en/.doctrees/source/camera_devices/2_installation/installation.doctree
index e9f00e3ee7809b31c682ca33f5dc08506a1931a8..8ff0016c583ad1f939093447c6353b4d70042fe7 100644
GIT binary patch
delta 124
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delta 60
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diff --git a/en/.doctrees/source/2_installation/registration_script.doctree b/en/.doctrees/source/camera_devices/2_installation/registration_script.doctree
similarity index 89%
rename from en/.doctrees/source/2_installation/registration_script.doctree
rename to en/.doctrees/source/camera_devices/2_installation/registration_script.doctree
index c05287d53926980a7758d5cb723c9c967e69f4ff..d0979985973ad46b0ff76bffdb55ff9f0598b9f6 100644
GIT binary patch
delta 39
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delta 24
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diff --git a/en/.doctrees/source/3_quickstarts/orbbecviewer.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
similarity index 75%
rename from en/.doctrees/source/3_quickstarts/orbbecviewer.doctree
rename to en/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
index 3f80017c6d1d0daa931ddf5820ca80cdccc3793c..5841be592973d2883d5f6c0c1b5db6d1702ed1f8 100644
GIT binary patch
delta 163
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delta 84
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diff --git a/en/.doctrees/source/3_quickstarts/quickstart.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree
similarity index 98%
rename from en/.doctrees/source/3_quickstarts/quickstart.doctree
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index 449f9626b39d3391463db7d2c32341d49cdea140..802141246f78b521a8abec0fccd56e432bf4c0d4 100644
GIT binary patch
delta 39
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delta 24
gcmaExelMM+fpzNTjVu9-j8T(A8SOVOX7n-w0Di#;=Kufz

diff --git a/en/.doctrees/source/3_quickstarts/quickstarts.doctree b/en/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree
similarity index 72%
rename from en/.doctrees/source/3_quickstarts/quickstarts.doctree
rename to en/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree
index d85988d6e404650cc73b8c23a8be5ff50c9a60d6..b6abd8c6f1330e8fc7320eb2c0df812544e9a2a8 100644
GIT binary patch
delta 129
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delta 65
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diff --git a/en/.doctrees/source/4_application_guide/application_guide.doctree b/en/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree
similarity index 65%
rename from en/.doctrees/source/4_application_guide/application_guide.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree
index 9ca4277ba506bd41d5eeff45d6b48afa191dfd2f..13f646e96ccac15d5f21a7108cad4a53e61327f2 100644
GIT binary patch
delta 271
zcmca8eNu+Cfpw}K-$qtvM#l2Vo{aW<$%(nCMTzk#sb!hTsl}5gvWRY;!}ym`%(^(g
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delta 141
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diff --git a/en/.doctrees/source/4_application_guide/compressed_image.doctree b/en/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree
similarity index 53%
rename from en/.doctrees/source/4_application_guide/compressed_image.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree
index 2d63a2b3be091548e3217fd90567518468139883..b2bfcd9e7af10bed5ff0aaf726b2605d5213779b 100644
GIT binary patch
delta 39
vcmbO)yH1v+fpzNQjVw-#jHQ#^8SVL!6LV9G65~@+%QBNwi#NA2O7Q{!0a6U=

delta 24
gcmZ1{J71QifpzMXjVw-#jA@hI8SOVuWt8Lv0AX4OA^-pY

diff --git a/en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree b/en/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree
similarity index 83%
rename from en/.doctrees/source/4_application_guide/coordinate_and_tf.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree
index d0e93895f4fdb32b4359091aeac9c767f6d4e63b..7810b327854d4c310079cd4b7a8cc8a12d00df1c 100644
GIT binary patch
delta 241
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delta 132
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diff --git a/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree b/en/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..d3f22a0f744647c219cf71d0360d97e0cfbea6bd
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literal 0
HcmV?d00001

diff --git a/en/.doctrees/source/4_application_guide/point_cloud.doctree b/en/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree
similarity index 88%
rename from en/.doctrees/source/4_application_guide/point_cloud.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree
index e3abc6839b8c8262e3b389ee9d1efde9b309b47a..12aa68c45f7d5c4a02d5c91961b8e8be044b4ba4 100644
GIT binary patch
delta 103
zcmdlJ@iKy?fpu!!MwS{z#)8R>jP`uViMgpoiSa3^WtqvT#hdpt3JZuC73Y^0C8z46
W%1zc2lH2@UP!f;4#AbaZUM>KbawJ&*

delta 62
zcmaDEu_uD1fpx0kMwS{z#>B~ujP{$)GYSc?D;MXN7A2=n_7RfXEGi_4EFdv?z7pH!
IBqeq(0E%l9WdHyG

diff --git a/en/.doctrees/source/4_application_guide/services.doctree b/en/.doctrees/source/camera_devices/4_application_guide/services.doctree
similarity index 92%
rename from en/.doctrees/source/4_application_guide/services.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/services.doctree
index 4df8569348a18b8acd0f2431ff1581c6999b9f5b..005265b932e1f576697583df068235e77ebfd9f0 100644
GIT binary patch
delta 864
zcmZ2~gK6GVCe{YlsgpNtWG!Z7%$;1xXwR3Nn44OZ7@v|_mYJMdym>q0<b{*>7s)t_
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delta 95
zcmbRDlxh79Ce{YlsVZwWvKBKk#!aqdwBLN3ani!g^H+XgV!Fq@dE%NfX7-KT3=CQ8
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diff --git a/en/.doctrees/source/4_application_guide/topics.doctree b/en/.doctrees/source/camera_devices/4_application_guide/topics.doctree
similarity index 91%
rename from en/.doctrees/source/4_application_guide/topics.doctree
rename to en/.doctrees/source/camera_devices/4_application_guide/topics.doctree
index b42368074b5a24f57de8362d375aec4178a86d36..7333409f878a73b196e8990b477ad0698d28be4a 100644
GIT binary patch
delta 41
xcmZ3#k#XNfMwSNFshc;lI59G2Pj+Xt=Sxn^O)W}{Pf0DyOinG{+{&mG4gfZ`4wL`@

delta 26
icmdnDk#YS-MwSNFsY^DpI59HDOm=6q-#nF3GaLYe9SF<-

diff --git a/en/.doctrees/source/5_advanced_guide/advanced_guide.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree
similarity index 55%
rename from en/.doctrees/source/5_advanced_guide/advanced_guide.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree
index 774bd3bf05d8f6d6a191edc39e7e249248c57448..2f5d872226bfe616cbbf81d87939638c509edc60 100644
GIT binary patch
delta 497
zcmaE%aYKu>fpw~{=tfpsM#jR)&W!ea$%(nCMTzk#sb!hTsl}Tc8S9zEOpEhNi;`3I
zQROB#GAc|~XAux{!Y*ycVk8!UOG<9?R2D5UN1W1|pRmX<i8<hqXV;dV(l*7f#~qiv
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dm$VoTAA#(>#wCtVT7(;?uYkHY2XTvW0sxr&vN!+$

delta 261
zcmcbi^+JQSfpu!E$VOIMM#iMc&W!e(Co<MCv8xs5mlh?bPM*N1FxizwfZZ6%7i5*2
z+{q%s?uo>|$fCt=1mSNMWVK>qH-t(ivKz2lz}ec9<vG}SrnF7*>+wPnlw&u5^W`@e
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IPCR0q0HbYG1ONa4

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree
similarity index 83%
rename from en/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree
index 48eb86e056614fe49b7e0c62d33ce1b3c7a6dfea..91b962b632a7a466bfa5ee036e2888810c7c0f04 100644
GIT binary patch
delta 99
zcmccV)aK06z&f>hBTEt^W8>s>Mti>G#N5=P#Q2odvdrYv;>}ALj|z%e6z7)~C8z46
V$rTDuWWgafxlmYcv$}*4Cjby^BiaA}

delta 58
zcmZp3zUjo$z&h1$BTEt^W6|VvM*GcM8IK6EYZm917A2={?iZfO0^>~X7nYm6K!R;^
Il!Oi^0992Jz5oCK

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
similarity index 91%
rename from en/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
index 317053ea130e6f5f279a57a6c5a4191b59656eac..3e13a9349ea60d8cd010282e5163e9e7622ad8b2 100644
GIT binary patch
delta 39
vcmX@9c0-M&fpx0yMwT*0##xiA8SVL!6LV9G65~@+%QBNwi#P9NoFE7Q6|)XC

delta 24
gcmcbic2bR{fpx0gMwT*0#_q}0jP{#PGWH7s0Bnc|Z2$lO

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree
similarity index 94%
rename from en/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree
index a4f5f1927234342f9418fa9554fa64023ce8ecdc..0e713a1aaa7b9e584a5f566844f203ef4452ee26 100644
GIT binary patch
delta 39
vcmaED^vj5)fpu#BMixIt#<t19jP`uViMgpoiSa3^WtqvT#hWKG-Vz4@9d8bI

delta 24
gcmexm^xBA}fpu!aMixIt#`4L*jP{!sGTsyi0CK(vuK)l5

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree
similarity index 97%
rename from en/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree
index 9405f096616dc91aaee7c2262515527ec9cd27d9..b896f9e9f2783b325c1eec318bad3b9ca1f0cc53 100644
GIT binary patch
delta 78
zcmZ2bxv!F?fpzNUjVzXojO~-{814Cz6LV9G65~@+%QBNwi#OLWZsC`8E6y)1N>0^B
WmDA76O-xVKpM20nd~>Lvw>AKDjvTW9

delta 41
xcmdm2xuBAzfpzNCjVzXoj1`mZ80|OrFmC2&H!sdFElN(Ed{EG6bGx9qHUK-u4w3)>

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree
similarity index 93%
rename from en/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree
index 4e6a6f2041ed9bade632c9dd492c1e1f61f3edcf..b8e55935fa4d4edded5aee54e80902e09c11adff 100644
GIT binary patch
delta 101
zcmaDgpK<yEM%D(_sXPH2S@$q9HcdXnXwR3Nn44OZ7@v|_mYJMdyou?Et(a4BerZv1
Zsy?dJWLrn|&7bUD7;(sNwsl;~2LO9aCJF!m

delta 61
zcmbQffbrFQM%D(_srUUivhHDIES`Lb(SEZ4(_ve7<Kq0%qU6-cfew0`#T{%Jkp$E?
JPjqbK0|30v73BZ`

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
similarity index 94%
rename from en/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
index 2bbfbff7fd7119508019de768fd6c323cde67b59..47e678fd232291e393774bf4c7b2f1e93c6ff762 100644
GIT binary patch
delta 41
xcmca~p7G&%MwSNFsn<5L<TEl>O)g=y=Sxn^O)W}{Pf0DyOinG{yopgE4FFl=57Ynv

delta 26
icmaEOp7GLoMwSNFsmC|6<TEm6PcC7!-+YKsJ`DhtcnS;v

diff --git a/en/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
similarity index 95%
rename from en/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
index 13584cff581e88264b3c297d5a0f177c1bbac3c0..bc7f0ecb02680bf85806eb6e2b1c87c860a818a1 100644
GIT binary patch
delta 39
vcmca*_|lN2fpzM=jVx}Aj7^ih8SVL!6LV9G65~@+%QBNwi#K;N28sg!B3up~

delta 24
gcmaE9c*~HbfpzNnjVx}AjK!0^8SOXEWDF1o0CaK)RR910

diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree
similarity index 93%
rename from en/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree
index 91930c312803d5e87d8e01255f04676f55e3ed62..3f6ffff5f87478ab28e7dea182d1c94696b4ebef 100644
GIT binary patch
delta 41
xcmbO=g>mH+MwSNFsd5`x3K<!zCYLeV^Cc(drWPf}r=*r;CZ`r}-olvX0RSOz4rBlT

delta 26
icmZ2Eg>lvtMwSNFsr(yR3K<!*CzmnWZ$849>Hz?D3kaM5

diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree
similarity index 91%
rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree
index a5b726631b156b373197492a6e43ab16296c810c..1f8c87ef2fbd8a09cae18fdcdec9ce7f2d59f655 100644
GIT binary patch
delta 39
vcmey6`9G7TfpzMajVxA-jMbCv8SVL!6LV9G65~@+%QBNwi#OLY78?TqINJ{5

delta 24
gcmeyL`5}{~fpzNBjVxA-j5(9-8SOXsG8P#F0D@Er8UO$Q

diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree
similarity index 83%
rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree
index 75eebcffa8bb7890a05cd43abb3635a11ab71215..c24f1e65f860cbaf16d01f54c9d9c6173db54130 100644
GIT binary patch
delta 106
zcmccD%h=t=$lAa<mBD=@>nujbrpXH!?fH@ub5n~F<5N=0GLut_H{WBt%qHehoL^d$
aoT`s1H(7zxWb+%2W<2tGo0srgnF9b4a3;$D

delta 61
zcmeC~W4zbP$lAa<^|ISW)>({<#gi8>+HZcxc!`bOvN*rAC^>bq9jD1=F3x6T0lm!^
H`K`<WvsM*+

diff --git a/en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
similarity index 98%
rename from en/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
index c5c4dfedd99e298a2363ab0a6f56266b35d96568..1f2283e725e098ad876c583876552e34d56e4f79 100644
GIT binary patch
delta 41
xcmeC#&p3NOBTED8)Cn6|>KGZPOm1eh=Sxn^O)W}{Pf0DyOinG{e30>UEC4<a56b`m

delta 26
icmbQepRs2@BTED8)W(f0b&QOylbadsH(z8t6$=1`iV6b&

diff --git a/en/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree
similarity index 96%
rename from en/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree
index da40b9b04ee46dcd7e0ca3d4338f078894fe26c8..6930acbfc762e3de52ce740296e2cf20a6c50036 100644
GIT binary patch
delta 39
vcmZ2vztNthfpzM#jVyVLjFTr9GurbdC+4OWCB~<umSrZV7H{6j_)!)B8ix+R

delta 24
gcmdmJzsR1YfpzNijVyVLj4hLk8SOV8Wc(lt0B<4)_y7O^

diff --git a/en/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree
similarity index 98%
rename from en/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree
index be452afe35722634eebd37266c3b39b4b43a98c1..aae6d8382059a63cb625beebebc1c1a36149730d 100644
GIT binary patch
delta 41
xcmbQafN{kFMwSNFsj?ecS{NB?CU-L0^Cc(drWPf}r=*r;CZ`r}KF%2A2LLF;4yFJA

delta 26
icmZ3nfN|ymMwSNFseBt*S{NB~CwDU1Z@$hL=m!9K%Lv{8

diff --git a/en/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree b/en/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree
similarity index 92%
rename from en/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree
rename to en/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree
index 5f374be0579f58577f7a13486d53e565a6573eeb..011aa81c06317e4809629ff6ef1c81a87e201504 100644
GIT binary patch
delta 41
xcmaEJi1GI!MwSNFsRbKZ$`~1ICs#At^Cc(drWPf}r=*r;CZ`r}-pRN*9spF45G()y

delta 26
icmex;i1E!KMwSNFsfim|$`~2*CRa1sZ$8PmDINfnn+jwA

diff --git a/en/.doctrees/source/6_benchmark/benchmark.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
similarity index 70%
rename from en/.doctrees/source/6_benchmark/benchmark.doctree
rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
index 3cb90c35218955f422b0281dd2223da1bae7f629..42c6d02fd766aae56bdd211fd9e764158408702c 100644
GIT binary patch
delta 200
zcmX>vxl)R?fpw}J??zT*M#l8XmW=j%$%(nCMTzk#sb!hTsl}7~n8h~tGOl10(=N_0
zElN(+$COu_(!-vbS5lOjT0A9oiiTg09(JXf%yMFe*rocI6~zp2Nr_KB%giaJgH?L-
IUFJ_50J_3SBme*a

delta 104
zcmZ1}bzYLSfpzK;o{g-=jEoVJEg9`6GqH$np2N6;kzJ-ZzqBYhbuuH1*yI9c0d{#P
le;TtKyAoVZT(Gn_F+Fuk+Z4YZMYyN}yDWsg*_`DQ2LOxvAt(R<

diff --git a/en/.doctrees/source/6_benchmark/benchmark_data.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
similarity index 90%
rename from en/.doctrees/source/6_benchmark/benchmark_data.doctree
rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
index 33fcef31cb85413eb95c2a3548617921940a63fb..280bced745a9276118337b7215ed4bd6330ddf96 100644
GIT binary patch
delta 39
vcmX@5e^Z~OfpzM+jVyMIjM<Z&8SVL!6LV9G65~@+%QBNwi#InidWr!67Z44x

delta 24
gcmcbqe@dUFfpzNsjVyMIj4_j)8SOVuWb_aN0B(B+=>Px#

diff --git a/en/.doctrees/source/6_benchmark/benchmark_usage.doctree b/en/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree
similarity index 96%
rename from en/.doctrees/source/6_benchmark/benchmark_usage.doctree
rename to en/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree
index 51ee7da74877743b190272a01e18d32169e39c84..d00365998f14268defc0690d3354ffb82e1ddbb8 100644
GIT binary patch
delta 39
ucmexX&|1jSz&f>RBZ~tgW6oq(Mti>G#N5=P#Q2odvdrYv;?2#BpUnUqT@Hx=

delta 24
gcmZoI{8qryz&bU1BZ~tgW9(#CM*Gc^89$i;0CE-x!2kdN

diff --git a/en/.doctrees/source/6_benchmark/introduction.doctree b/en/.doctrees/source/camera_devices/6_benchmark/introduction.doctree
similarity index 82%
rename from en/.doctrees/source/6_benchmark/introduction.doctree
rename to en/.doctrees/source/camera_devices/6_benchmark/introduction.doctree
index 3e6fc6ab5f11029d918af65ed245c2a1eba348e5..d1170a50f06037e41be7d16409a8705e45c76875 100644
GIT binary patch
delta 143
zcmX@$_s5T=fpu!(MiwhZ#>~m~jP`uViMgpoiSa3^WtqvT#hYsx%>~5Vit|g0l2i3j
p<tF>dN=&vD7MUC%#J2gZpdlk3b(?L4w{wa);W9^Wv!<*#7XTrMG2j3I

delta 71
zcmez4cfgOOfpx0sMiwhZ#;D2mjP{#*8O;RP&5QF(i;`0}-xN${gmEUX6gJx2B0QIq
R-54S}xl2}WbE>R37XWLR7%2b%

diff --git a/en/.doctrees/source/6_benchmark/othertools.doctree b/en/.doctrees/source/camera_devices/6_benchmark/othertools.doctree
similarity index 98%
rename from en/.doctrees/source/6_benchmark/othertools.doctree
rename to en/.doctrees/source/camera_devices/6_benchmark/othertools.doctree
index e0869597187aa0700e3235545e38f6cd47c1d3bc..1008cab548d61d17ac3fc6bf21ebcd2d18d09f49 100644
GIT binary patch
delta 39
vcmX??b~lZsfpu!oMivW3#`MXyjP`uViMgpoiSa3^WtqvT#ha@cFB<{?7^4n4

delta 24
gcmcbcb}o&jfpx0$MivW3#)!$bjP{$m87~<E0C89dasU7T

diff --git a/en/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree
similarity index 96%
rename from en/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree
rename to en/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree
index 25fb834dfc1dd29d4cf19572e9b54da6bedfdb3a..5da38031b127b3f51ae531673adc35597e0ccc4c 100644
GIT binary patch
delta 39
vcmca)^3a5(fpu!wMwSpp#+u2IjP`uViMgpoiSa3^WtqvT#ha%y?v?-m6Qd3q

delta 24
gcmaE8a><0Hfpx0;MwSpp#@xw~jP{$CGwzZA0BrpTQUCw|

diff --git a/en/.doctrees/source/7_developer_guide/developer_guide.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree
similarity index 73%
rename from en/.doctrees/source/7_developer_guide/developer_guide.doctree
rename to en/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree
index 474b1cc2ef490b93c1b7c76ace9b11c54dc170c3..b199ea8ea60b86694985e6316cd3e25da701b647 100644
GIT binary patch
delta 125
zcmbOvc}|k0fpzNPjVum~jKz~(8SVL!6LV9G65~@+%QBNwizmx4D{WrNSimS|UYuWA
Zl$@%MA#a3BDwJ7W%n_@u&CSgGoB*7{E5-l-

delta 65
zcmX>nIZ2YGfpu#8MivJ~#+1pfjP{eQnH4v0VJu)|*C@^}ElN(EY{hH@XE!mcvl~Ig
KH}7ZW=L7(q(G-pV

diff --git a/en/.doctrees/source/7_developer_guide/migration_guide.doctree b/en/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree
similarity index 99%
rename from en/.doctrees/source/7_developer_guide/migration_guide.doctree
rename to en/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree
index e86908573f2fc2110080409429a56dd21c63c535..cc00c32aa00199febc3edf8169cf30cbe8adca1b 100644
GIT binary patch
delta 41
xcmZ4ShH3j7CYA=)sX7~3$`~1oCRa1s^Cc(drWPf}r=*r;CZ`r}-pQE11pq?;54->X

delta 26
icmdn~hH1qcCYA=)sj?ec$`~1wCs#AtZ$8PGw*>%-nF;g&

diff --git a/en/.doctrees/source/8_FAQ/FAQ.doctree b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree
similarity index 86%
rename from en/.doctrees/source/8_FAQ/FAQ.doctree
rename to en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree
index a1c4c39dc1dd4394e6259b88dba305d9223b64f4..36a3468a90eccb9a721c1e465a6ecd0ca6d1335a 100644
GIT binary patch
delta 1321
zcmc&!&rj4q6sEWfl9-i*c!4!O5fF5XaPbF;OV9*D)X2d-C?ZbVw>z`6ou)GbY>X)$
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E6Tb(~X8-^I

delta 94
zcmaFT!}!0RwSjf&7yFH@p^S{)lcO2!H?L$AGMj8E&%K$+?l=>p)8<nS<;-lNEDQ`;
xLX+KHEQLyYIP(&7Q%fofQj4e5PSMB`ojk`ym7_F60mKoSeBQ-kv!H7*BLL*jA65VW

diff --git a/en/.doctrees/source/camera_devices/index.doctree b/en/.doctrees/source/camera_devices/index.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..3a9d5286c22ae7e448c5698c89c9409d37bbd44e
GIT binary patch
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literal 0
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diff --git a/en/.doctrees/source/lidar_devices/index.doctree b/en/.doctrees/source/lidar_devices/index.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..e41e7807065b50046e0b6b4914c3b416322a0227
GIT binary patch
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diff --git a/en/.doctrees/source/lidar_devices/lidar.doctree b/en/.doctrees/source/lidar_devices/lidar.doctree
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A=l}o!

diff --git a/en/_sources/index.rst.txt b/en/_sources/index.rst.txt
index fa3c229b..00e0c096 100644
--- a/en/_sources/index.rst.txt
+++ b/en/_sources/index.rst.txt
@@ -10,11 +10,5 @@ OrbbecSDK V2 ROS2 Wrapper documentation
     :maxdepth: 3
     :numbered:
 
-    source/1_overview/overview.rst
-    source/2_installation/installation.rst
-    source/3_quickstarts/quickstarts.rst
-    source/4_application_guide/application_guide.rst
-    source/5_advanced_guide/advanced_guide.rst
-    source/6_benchmark/benchmark.rst
-    source/7_developer_guide/developer_guide.rst
-    source/8_FAQ/FAQ.rst
+    source/camera_devices/index.rst
+    source/lidar_devices/index.rst
diff --git a/en/_sources/source/1_overview/introduction.md.txt b/en/_sources/source/camera_devices/1_overview/introduction.md.txt
similarity index 100%
rename from en/_sources/source/1_overview/introduction.md.txt
rename to en/_sources/source/camera_devices/1_overview/introduction.md.txt
diff --git a/en/_sources/source/1_overview/orbbecsdk_overview.md.txt b/en/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt
similarity index 100%
rename from en/_sources/source/1_overview/orbbecsdk_overview.md.txt
rename to en/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt
diff --git a/en/_sources/source/1_overview/overview.rst.txt b/en/_sources/source/camera_devices/1_overview/overview.rst.txt
similarity index 100%
rename from en/_sources/source/1_overview/overview.rst.txt
rename to en/_sources/source/camera_devices/1_overview/overview.rst.txt
diff --git a/en/_sources/source/2_installation/build_the_package.md.txt b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt
similarity index 92%
rename from en/_sources/source/2_installation/build_the_package.md.txt
rename to en/_sources/source/camera_devices/2_installation/build_the_package.md.txt
index 3dfde7a2..8db9a820 100644
--- a/en/_sources/source/2_installation/build_the_package.md.txt
+++ b/en/_sources/source/camera_devices/2_installation/build_the_package.md.txt
@@ -1,6 +1,5 @@
-### Binary Installation
+### Environment configuration
 
-#### Environment
 
 Install ROS 2 according to the official guide:
 
@@ -22,7 +21,7 @@ Enable ROS 2 auto-completion:
 eval "$(register-python-argcomplete3 ros2)"
 eval "$(register-python-argcomplete3 colcon)"
 ```
-#### Linux Binary Package Installation
+### Linux Binary Package Installation
 
 Check available packages:
 
@@ -43,7 +42,6 @@ After installation, you can use it directly without compilation.
 
 ### Build from Source
 
-#### Linux ROS2 Wrapper Compilation
 
 Create a `colcon` workspace:
 
diff --git a/en/_sources/source/2_installation/installation.rst.txt b/en/_sources/source/camera_devices/2_installation/installation.rst.txt
similarity index 100%
rename from en/_sources/source/2_installation/installation.rst.txt
rename to en/_sources/source/camera_devices/2_installation/installation.rst.txt
diff --git a/en/_sources/source/2_installation/registration_script.md.txt b/en/_sources/source/camera_devices/2_installation/registration_script.md.txt
similarity index 100%
rename from en/_sources/source/2_installation/registration_script.md.txt
rename to en/_sources/source/camera_devices/2_installation/registration_script.md.txt
diff --git a/en/_sources/source/3_quickstarts/orbbecviewer.md.txt b/en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
similarity index 100%
rename from en/_sources/source/3_quickstarts/orbbecviewer.md.txt
rename to en/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
diff --git a/en/_sources/source/3_quickstarts/quickstart.md.txt b/en/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt
similarity index 100%
rename from en/_sources/source/3_quickstarts/quickstart.md.txt
rename to en/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt
diff --git a/en/_sources/source/3_quickstarts/quickstarts.rst.txt b/en/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt
similarity index 100%
rename from en/_sources/source/3_quickstarts/quickstarts.rst.txt
rename to en/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt
diff --git a/en/_sources/source/4_application_guide/application_guide.rst.txt b/en/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt
similarity index 100%
rename from en/_sources/source/4_application_guide/application_guide.rst.txt
rename to en/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt
diff --git a/en/_sources/source/4_application_guide/compressed_image.md.txt b/en/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt
similarity index 100%
rename from en/_sources/source/4_application_guide/compressed_image.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt
diff --git a/en/_sources/source/4_application_guide/coordinate_and_tf.md.txt b/en/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt
similarity index 100%
rename from en/_sources/source/4_application_guide/coordinate_and_tf.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt
diff --git a/en/_sources/source/4_application_guide/launch_parameters.md.txt b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
similarity index 95%
rename from en/_sources/source/4_application_guide/launch_parameters.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
index 0fd5f530..d442b190 100644
--- a/en/_sources/source/4_application_guide/launch_parameters.md.txt
+++ b/en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
@@ -41,6 +41,10 @@ The following are the launch parameters available:
     *   Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
 *   **`right_ir.image_raw.enable_pub_plugins`**
     *   Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+*   **`point_cloud_decimation_filter_factor`**
+    *   Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
+*   **`preset_resolution_config`**
+    * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
 
 ### Sensor Controls
 
@@ -181,7 +185,7 @@ The following are the launch parameters available:
   *   `COLOR`: Align depth to color.
   *   `DEPTH`: Align color to depth.
 - **`intra_camera_sync_reference`**
-  - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. **Default:** `Middle`
+  - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
 
 ### Basic & General Parameters
 
@@ -224,6 +228,8 @@ The following are the launch parameters available:
 #### Logging & Diagnostics
 *   **`log_level`**
     *   SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
+* **`log_file_name`**
+    * Saved SDK log file name. Effective when `log_level` is `debug`.
 *   **`diagnostic_period`**
     *   Diagnostic period in seconds.
 *   **`enable_heartbeat`**
diff --git a/en/_sources/source/4_application_guide/point_cloud.md.txt b/en/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt
similarity index 100%
rename from en/_sources/source/4_application_guide/point_cloud.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt
diff --git a/en/_sources/source/4_application_guide/services.md.txt b/en/_sources/source/camera_devices/4_application_guide/services.md.txt
similarity index 96%
rename from en/_sources/source/4_application_guide/services.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/services.md.txt
index 36ccb3e8..a2838fca 100644
--- a/en/_sources/source/4_application_guide/services.md.txt
+++ b/en/_sources/source/camera_devices/4_application_guide/services.md.txt
@@ -256,3 +256,13 @@
                     -6.804073229432106e-06]}'
     ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
     ```
+
+### Point cloud decimation
+*   `/camera/set_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
+    ```
+*   `/camera/get_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
diff --git a/en/_sources/source/4_application_guide/topics.md.txt b/en/_sources/source/camera_devices/4_application_guide/topics.md.txt
similarity index 100%
rename from en/_sources/source/4_application_guide/topics.md.txt
rename to en/_sources/source/camera_devices/4_application_guide/topics.md.txt
diff --git a/en/_sources/source/5_advanced_guide/advanced_guide.rst.txt b/en/_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/advanced_guide.rst.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/depth_work_mode_switch.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/configuration/depth_work_mode_switch.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt
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diff --git a/en/_sources/source/5_advanced_guide/configuration/net_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
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rename from en/_sources/source/5_advanced_guide/configuration/net_camera.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
diff --git a/en/_sources/source/5_advanced_guide/configuration/predefined_presets.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
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rename from en/_sources/source/5_advanced_guide/configuration/predefined_presets.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
diff --git a/en/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt
similarity index 100%
rename from en/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt
diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt
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rename from en/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt
rename to en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt
diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.md.txt
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rename from en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt
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diff --git a/en/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
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diff --git a/en/_sources/source/5_advanced_guide/performance/efficient_intra_process_communication.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt
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rename to en/_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt
diff --git a/en/_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.md.txt
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diff --git a/en/_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt b/en/_sources/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.md.txt
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rename from en/_sources/source/6_benchmark/introduction.md.txt
rename to en/_sources/source/camera_devices/6_benchmark/introduction.md.txt
diff --git a/en/_sources/source/6_benchmark/othertools.md.txt b/en/_sources/source/camera_devices/6_benchmark/othertools.md.txt
similarity index 100%
rename from en/_sources/source/6_benchmark/othertools.md.txt
rename to en/_sources/source/camera_devices/6_benchmark/othertools.md.txt
diff --git a/en/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt b/en/_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt
similarity index 100%
rename from en/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt
rename to en/_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt
diff --git a/en/_sources/source/7_developer_guide/developer_guide.rst.txt b/en/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt
similarity index 100%
rename from en/_sources/source/7_developer_guide/developer_guide.rst.txt
rename to en/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt
diff --git a/en/_sources/source/7_developer_guide/migration_guide.md.txt b/en/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt
similarity index 100%
rename from en/_sources/source/7_developer_guide/migration_guide.md.txt
rename to en/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt
diff --git a/en/_sources/source/8_FAQ/FAQ.md.txt b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
similarity index 86%
rename from en/_sources/source/8_FAQ/FAQ.md.txt
rename to en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
index b7c04c1c..acaafb81 100644
--- a/en/_sources/source/8_FAQ/FAQ.md.txt
+++ b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
@@ -62,3 +62,16 @@ Multi-camera systems place high demands on USB bandwidth and device initializati
   When invoking stream control services (such as `set_streams_enable`, `toggle_depth`, and `toggle_color`), avoid triggering multiple service calls at the same time. Instead, introduce a reasonable interval between operations (e.g., **20 ms**) to ensure reliable stream state transitions.
 
 Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior.
+### femto bolt depth stream no data
+
+This module depends on the OpenGL library at runtime. If OpenGL is not installed or the graphics driver is incomplete, the depth stream may output no data. Please make sure to install the necessary OpenGL libraries first (Ubuntu example below):
+
+```bash
+  sudo apt update && sudo apt install -y mesa-utils libgl1-mesa-glx libglu1-mesa
+```
+
+  After installation, you can check whether OpenGL is available through the following command:
+
+```bash
+  glxinfo -B
+```
diff --git a/en/_sources/source/camera_devices/index.rst.txt b/en/_sources/source/camera_devices/index.rst.txt
new file mode 100644
index 00000000..7f738071
--- /dev/null
+++ b/en/_sources/source/camera_devices/index.rst.txt
@@ -0,0 +1,16 @@
+Camera Devices
+=======================================
+
+.. toctree::
+    :maxdepth: 3
+    :numbered:
+
+    1_overview/overview.rst
+    2_installation/installation.rst
+    3_quickstarts/quickstarts.rst
+    4_application_guide/application_guide.rst
+    5_advanced_guide/advanced_guide.rst
+    6_benchmark/benchmark.rst
+    7_developer_guide/developer_guide.rst
+    8_FAQ/FAQ.rst
+
diff --git a/en/_sources/source/lidar_devices/index.rst.txt b/en/_sources/source/lidar_devices/index.rst.txt
new file mode 100644
index 00000000..e5877489
--- /dev/null
+++ b/en/_sources/source/lidar_devices/index.rst.txt
@@ -0,0 +1,8 @@
+Lidar Devices
+=======================================
+
+.. toctree::
+    :maxdepth: 1
+    :numbered:
+
+    lidar.md
diff --git a/en/_sources/source/lidar_devices/lidar.md.txt b/en/_sources/source/lidar_devices/lidar.md.txt
new file mode 100644
index 00000000..1c587504
--- /dev/null
+++ b/en/_sources/source/lidar_devices/lidar.md.txt
@@ -0,0 +1,208 @@
+This ROS2 driver supports your use of Orbbec single-line/multi-line LiDAR. This document provides installation instructions## 4. IMU Data
+
+## Installation
+
+### Prerequisites
+
+Before using the OrbbecSDK ROS2 LiDAR driver, please ensure that the following dependencies are installed on your system:
+
+- **ROS2**: A valid installation of ROS2 (Humble, Jazzy, or other supported distributions).
+  - If you need help, please refer to the [ROS2 Installation Guide](https://docs.ros.org/en/foxy/Installation.html).
+
+### Install deb Dependencies
+
+```bash
+# assume you have sourced ROS environment, same blow
+sudo apt install libgflags-dev nlohmann-json3-dev  \
+ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
+ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
+ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
+ros-$ROS_DISTRO-backward-ros libdw-dev
+```
+
+### Install udev Rules
+
+```bash
+cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo bash install_udev_rules.sh
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+### Build the Package
+
+```bash
+cd ~/ros2_ws/
+# Build release version, default is Debug
+colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release
+```
+
+### Launch the LiDAR Node
+
+* First terminal
+
+```bash
+. ./install/setup.bash
+ros2 launch orbbec_camera lidar.launch.py
+```
+
+* Second terminal
+
+```bash
+. ./install/setup.bash
+rviz2
+```
+
+1. Open Rviz2.
+2. Add a `PointCloud2` or `LaserScan` display.
+3. For `PointCloud2`, select the `/lidar/cloud/points` topic; for `LaserScan`, select the `/lidar/scan/points` topic.
+4. Set the `Fixed Frame` to `lidar_lidar_frame` to properly align the data.
+
+* `PointCloud2` visualization example:
+
+![module in rviz2](./docs/images/lidar0.jpg)
+
+* `LaserScan` visualization example:
+
+![module in rviz2](./docs/images/lidar1.png)
+
+## Usage
+
+### Running the Driver
+
+To start the driver, launch the provided ROS2 launch file:
+
+```bash
+source install/setup.bash
+# Launch the driver with point cloud data
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT
+# Launch the driver with sphere point cloud data
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT
+# Launch the driver with laser scan data
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN
+# Launch the driver with IMU enabled
+ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
+# Launch the driver with both point cloud and IMU data
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz
+```
+
+This command will start the node that interfaces with the Orbbec LiDAR device. Please ensure that the LiDAR hardware is properly connected before running this command.
+
+### Get Device Information for Connected LiDARs
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+This command will list the connected LiDAR devices and display their respective IP addresses and ports. You can use this information to configure the driver to connect to specific devices.
+
+### Check Which Configurations the LiDAR Supports
+
+```bash
+ros2 run orbbec_camera list_camera_profile_mode_node
+```
+
+### Parameters and Configuration
+
+The `lidar.launch.py` file contains default parameters for the driver. You can customize these settings by modifying the launch file or creating a custom configuration file. Key parameters include:
+
+- **device_type**: The type of device to launch. Optional values: `lidar`, `camera`. Setting this parameter to `lidar` launches the LiDAR device, setting it to `camera` launches the camera device.
+- **camera_name**: Launch node namespace.
+- **device_num**: Number of devices. This must be filled if you need to launch multiple devices.
+- **upgrade_firmware**: Firmware upgrade function. The input parameter is the firmware path.
+- **connection_delay**: Delay time (in milliseconds) for reopening the device. Immediately reopening the device during hot-plugging may cause firmware crashes.
+- **publish_tf**: Enable TF publishing.
+- **tf_publish_rate**: TF publishing frequency.
+- **lidar_format**: Data format for the LiDAR. Optional values: `LIDAR_POINT`, `LIDAR_SPHERE_POINT`, `LIDAR_SCAN`
+- **lidar_rate**: Scan rate of the LiDAR.
+- **publish_n_pkts**: Number of frames to accumulate before publishing merged point cloud. Range: 1-12000. Only effective when lidar_format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT`, used to merge specified number of frames before publishing. Default value: `1`
+- **enable_scan_to_point**: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics.
+- **repetitive_scan_mode**: Repetitive scan mode parameter.
+- **filter_level**: Add filter level parameter.
+- **vertical_fov**: Vertical angle parameter.
+- **min_angle**: Minimum angle of the LiDAR scan range in degrees (e.g., `-135.0`). Default value: `-135.0`.
+- **max_angle**: Maximum angle of the LiDAR scan range in degrees (e.g., `135.0`). Default value: `135.0`.
+- **min_range**: Minimum distance the LiDAR can measure in meters. Default value: `0.05`.
+- **max_range**: Maximum distance the LiDAR can measure in meters. Default value: `30.0`.
+- **echo_mode**: Echo mode of the LiDAR. Optional values: `Last Echo`, `First Echo`
+- **point_cloud_qos**: ROS 2 message Quality of Service (QoS) settings. Possible values include `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, and `SENSOR_DATA`, and are case-insensitive. These values correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA` respectively.
+- **enumerate_net_device**: Enable automatic enumeration of network devices.
+- **net_device_ip**: IP address of the network device.
+- **net_device_port**: Port number on the network side.
+- **log_level**: SDK log level, default value is `none`, optional values are `debug`, `info`, `warn`, `error`, `fatal`
+- **time_domain**: Timestamp type of the device. Optional values are `device`, `global`, `system`
+- **config_file_path**: Path to the YAML configuration file. Default value is "". If no configuration file is specified, default parameters from the launch file will be used.
+- **enable_heartbeat**: Enable heartbeat function, default is `false`. If set to `true`, the camera node will send heartbeat signals to the firmware; this should also be set to `true` if hardware logging is required.
+- **enable_imu**: Enable IMU (accelerometer + gyroscope) and output unified IMU topic data.
+- **imu_rate**: Unified frequency of the IMU (both accelerometer and gyroscope).
+- **accel_range**: Range of the accelerometer.
+- **gyro_range**: Range of the gyroscope.
+- **linear_accel_cov**: Linear acceleration covariance value, default is `0.0001`.
+- **angular_vel_cov**: Angular velocity covariance value, default is `0.0001`.
+
+## Point Cloud Data Details
+
+### Point Cloud Format
+
+PointCloud2 (PointXYZITO) point cloud format is as follows:
+
+```
+float32 x               # X axis, unit: meters
+float32 y               # Y axis, unit: meters
+float32 z               # Z axis, unit: meters
+uint8   intensity       # LiDAR intensity
+uint8   tag             # LiDAR tag
+uint32  offset_time     # Point cloud offset relative to topic time, unit nanoseconds
+```
+
+### Point Cloud Aggregation Functionality
+
+The `publish_n_pkts` parameter enables point cloud aggregation functionality, which allows the LiDAR to accumulate a specified number of frames before publishing, then merge these frames into a larger point cloud data package for publishing.
+
+#### Features:
+
+- **Parameter Range**: 1-12000 frames
+- **Applicable Formats**: Only effective when lidar format is `LIDAR_POINT` or `LIDAR_SPHERE_POINT`
+- **Default Value**: 1 (no aggregation, each frame published individually)
+- **Purpose**: Improve point cloud density, suitable for applications requiring denser point cloud data
+
+#### Usage Examples:
+
+```bash
+# Aggregate 10 frames before publishing
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT publish_n_pkts:=10
+
+# Aggregate 100 frames before publishing
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT publish_n_pkts:=100
+```
+
+**Note**: Increasing the `publish_n_pkts` value will improve point cloud density but will also increase latency and memory usage. Please adjust according to actual application requirements.
+
+## IMU Data
+
+### IMU Topics
+
+When IMU is enabled, the following topics will be published:
+
+- **`/lidar/imu/sample`**: Unified IMU topic containing synchronized accelerometer and gyroscope data in `sensor_msgs/Imu` format.
+- **`/lidar/lidar_to_imu`**: Transform from LiDAR frame to IMU frame.
+
+### Using IMU Data
+
+To enable IMU data collection:
+
+```bash
+# Launch with IMU enabled
+ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
+
+# Check IMU topics
+ros2 topic list | grep imu
+
+# View IMU data
+ros2 topic echo /lidar/imu/sample
+```
+
+The IMU data includes:
+
+- **linear_acceleration**: 3D acceleration data (x, y, z) in m/s²
+- **angular_velocity**: 3D angular velocity data (x, y, z) in rad/s
+- **orientation**: Quaternion orientation (not provided by hardware, set to zero)
diff --git a/en/_static/Default_Flowchart.png b/en/_static/Default_Flowchart.png
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diff --git a/en/genindex.html b/en/genindex.html
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+++ b/en/genindex.html
@@ -42,310 +42,331 @@
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+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -389,7 +410,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+    <link rel="next" title="Camera Devices" href="source/camera_devices/index.html" /> 
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-<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -380,167 +401,89 @@
 <h1>OrbbecSDK V2 ROS2 Wrapper documentation<a class="headerlink" href="#orbbecsdk-v2-ros2-wrapper-documentation" title="Link to this heading"></a></h1>
 <div class="toctree-wrapper compound">
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html">1.1. Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/2_installation/registration_script.html">2.4. Registration Script (Required)</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html">4.3. Available Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html">6.1. Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a></li>
 </ul>
 </li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
 </ul>
 </li>
 </ul>
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diff --git a/en/objects.inv b/en/objects.inv
index 8c931e54902809c75821661631859536104c0ef7..23611b5f445904b14ea0b3932b268d432aae23cb 100644
GIT binary patch
delta 6384
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diff --git a/en/quick_start.png b/en/quick_start.png
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diff --git a/en/search.html b/en/search.html
index 8531c5af..0ea53bae 100644
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@@ -45,310 +45,331 @@
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               <ul>
-<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/introduction.html">1.1. Introduction</a><ul>
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+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="source/camera_devices/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -397,7 +418,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
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index 7bfc42fe..bd4a866f 100644
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</span>All available services for camera control","<span class=\"section-number\">4.3. </span>Available Topics","<span class=\"section-number\">5. </span>Advanced Guide","<span class=\"section-number\">5.3.1. </span>Aligning Depth to Color in ROS 2","<span class=\"section-number\">5.3.2. </span>Configuration of depth NFOV and WFOV modes","<span class=\"section-number\">5.3.3. </span>Depth work mode switch","<span class=\"section-number\">5.3.4. </span>Disparity_search_offset","<span class=\"section-number\">5.3.5. </span>Using interleave_ae with Gemini330 series cameras","<span class=\"section-number\">5.3.7. </span>Net_camera","<span class=\"section-number\">5.3.6. </span>Predefined presets","<span class=\"section-number\">5.2.4. </span>GMSL_camera","<span class=\"section-number\">5.2.1. </span>Multi-Camera","<span class=\"section-number\">5.2.2. </span>Multi_camera synced Instructions","<span class=\"section-number\">5.2.3. </span>Multi-Camera Synchronization Verification Node","<span class=\"section-number\">5.1.2. </span>Efficient intra-process communication:","<span class=\"section-number\">5.1.3. </span>Fast DDS Optimization for Orbbec Camera with ROS2","<span class=\"section-number\">5.1.1. </span>Reducing CPU Usage with Orbbec ROS Package","<span class=\"section-number\">6. </span>Benchmark","<span class=\"section-number\">6.3. </span>Benchmark Data","<span class=\"section-number\">6.2. </span>Benchmark Usage","<span class=\"section-number\">6.1. </span>Introduction","<span class=\"section-number\">6.4. </span>Other Tools","<span class=\"section-number\">7.2. </span>Building a Debian Package","<span class=\"section-number\">7. </span>Developer Guide","<span class=\"section-number\">7.1. </span>Migrating from main to Open-Source v2-main","<span class=\"section-number\">8. </span>Frequently Asked Questions","Camera Devices","License","<span class=\"section-number\">1. </span>Lidar Devices","<span class=\"section-number\">1.1. 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\ No newline at end of file
diff --git a/en/source/1_overview/introduction.html b/en/source/camera_devices/1_overview/introduction.html
similarity index 78%
rename from en/source/1_overview/introduction.html
rename to en/source/camera_devices/1_overview/introduction.html
index 219cd96e..8d78a782 100644
--- a/en/source/1_overview/introduction.html
+++ b/en/source/camera_devices/1_overview/introduction.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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     <input type="hidden" name="check_keywords" value="yes" />
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@@ -45,310 +45,331 @@
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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 </ul>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
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@@ -1,26 +1,26 @@
 
 
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-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="2. Installation" href="../2_installation/installation.html" />
     <link rel="prev" title="1.1. Introduction" href="introduction.html" /> 
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l2"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2 current"><a class="reference internal" href="overview.html">1. Overview</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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 </li>
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-<li class="toctree-l3"><a class="reference internal" href="#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="overview.html"><span class="section-number">1. </span>Overview</a></li>
       <li class="breadcrumb-item active"><span class="section-number">1.2. </span>Orbbec SDK Overview</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/1_overview/orbbecsdk_overview.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -481,7 +503,7 @@
 </table></section>
 <section id="orbbec-sdk-v2-architecture-overview">
 <h2><span class="section-number">1.2.2. </span>Orbbec SDK v2 Architecture Overview<a class="headerlink" href="#orbbec-sdk-v2-architecture-overview" title="Link to this heading"></a></h2>
-<p><img alt="OrbbecSDK v2 Soft Architecture" src="../../_images/Soft_Architecture.png" /></p>
+<p><img alt="OrbbecSDK v2 Soft Architecture" src="../../../_images/Soft_Architecture.png" /></p>
 <ul class="simple">
 <li><p>Application</p></li>
 </ul>
@@ -552,12 +574,12 @@
 <ul class="simple">
 <li><p>Standard Flowchart:</p></li>
 </ul>
-<p><img alt="image.png" src="../../_images/Standard_Flowchart.png" /></p>
+<p><img alt="image.png" src="../../../_images/Standard_Flowchart.png" /></p>
 <p>The standard flowchart demonstrates how to create a device from the device list, set and get parameters, and apply post-processing filters.</p>
 <ul class="simple">
 <li><p>Flowchart using default configuration (stream acquisition based on the default settings in OrbbecSDKConfig.xml):</p></li>
 </ul>
-<p><img alt="image" src="../../_images/Default_Flowchart.png" /></p>
+<p><img alt="image" src="../../../_images/Default_Flowchart.png" /></p>
 </section>
 </section>
 
@@ -573,7 +595,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/1_overview/overview.html b/en/source/camera_devices/1_overview/overview.html
similarity index 71%
rename from en/source/1_overview/overview.html
rename to en/source/camera_devices/1_overview/overview.html
index 65316ddf..e960b459 100644
--- a/en/source/1_overview/overview.html
+++ b/en/source/camera_devices/1_overview/overview.html
@@ -1,28 +1,28 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="1.1. Introduction" href="introduction.html" />
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+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1 current"><a class="current reference internal" href="#">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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-            <a href="../../_sources/source/1_overview/overview.rst.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/1_overview/overview.rst.txt" rel="nofollow"> View page source</a>
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@@ -403,7 +425,7 @@
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+        <a href="../index.html" class="btn btn-neutral float-left" title="Camera Devices" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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@@ -411,7 +433,7 @@
 
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+++ b/en/source/camera_devices/2_installation/build_the_package.html
@@ -1,27 +1,27 @@
 
 
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+  <title>2.1. Environment configuration &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
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+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="next" title="2.4. Registration Script (Required)" href="registration_script.html" />
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../index.html" class="icon icon-home">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="installation.html">2. Installation</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
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           <div role="navigation" aria-label="Page navigation">
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>Installation</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">2.1. </span>Binary Installation</li>
+      <li class="breadcrumb-item active"><span class="section-number">2.1. </span>Environment configuration</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/2_installation/build_the_package.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/2_installation/build_the_package.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -378,10 +400,8 @@
           <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
            <div itemprop="articleBody">
              
-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="binary-installation">
-<h1><span class="section-number">2.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" title="Link to this heading"></a></h1>
-<section id="environment">
-<h2><span class="section-number">2.1.1. </span>Environment<a class="headerlink" href="#environment" title="Link to this heading"></a></h2>
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="environment-configuration">
+<h1><span class="section-number">2.1. </span>Environment configuration<a class="headerlink" href="#environment-configuration" title="Link to this heading"></a></h1>
 <p>Install ROS 2 according to the official guide:</p>
 <ul class="simple">
 <li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 installation (Ubuntu)</a></p></li>
@@ -401,7 +421,7 @@ ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libd
 </div>
 </section>
 <section id="linux-binary-package-installation">
-<h2><span class="section-number">2.1.2. </span>Linux Binary Package Installation<a class="headerlink" href="#linux-binary-package-installation" title="Link to this heading"></a></h2>
+<h1><span class="section-number">2.2. </span>Linux Binary Package Installation<a class="headerlink" href="#linux-binary-package-installation" title="Link to this heading"></a></h1>
 <p>Check available packages:</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
 apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>orbbec
@@ -413,12 +433,9 @@ apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><
 </div>
 <p>After installation, you can use it directly without compilation.</p>
 </section>
-</section>
 <hr class="docutils" />
 <section id="build-from-source">
-<h1><span class="section-number">2.2. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h1>
-<section id="linux-ros2-wrapper-compilation">
-<h2><span class="section-number">2.2.1. </span>Linux ROS2 Wrapper Compilation<a class="headerlink" href="#linux-ros2-wrapper-compilation" title="Link to this heading"></a></h2>
+<h1><span class="section-number">2.3. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h1>
 <p>Create a <code class="docutils literal notranslate"><span class="pre">colcon</span></code> workspace:</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/ros2_ws/src
 </pre></div>
@@ -435,7 +452,6 @@ git<span class="w"> </span>checkout<span class="w"> </span>v2-main
 colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
 </pre></div>
 </div>
-</section>
 </section>
 
 
@@ -443,14 +459,14 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
         <a href="installation.html" class="btn btn-neutral float-left" title="2. Installation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+        <a href="registration_script.html" class="btn btn-neutral float-right" title="2.4. Registration Script (Required)" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/2_installation/installation.html b/en/source/camera_devices/2_installation/installation.html
similarity index 70%
rename from en/source/2_installation/installation.html
rename to en/source/camera_devices/2_installation/installation.html
index c40d8f39..02c614ac 100644
--- a/en/source/2_installation/installation.html
+++ b/en/source/camera_devices/2_installation/installation.html
@@ -1,27 +1,27 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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-    <link rel="next" title="2.1. Binary Installation" href="build_the_package.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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     <link rel="prev" title="1.2. Orbbec SDK Overview" href="../1_overview/orbbecsdk_overview.html" /> 
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../index.html" class="icon icon-home">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,17 +380,18 @@
 
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           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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-            <a href="../../_sources/source/2_installation/installation.rst.txt" rel="nofollow"> View page source</a>
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@@ -382,18 +404,12 @@
 <p>This chapter explains how to install the Orbbec ROS2 Python SDK, including building from source, installing dependencies, and using registration scripts.</p>
 <div class="toctree-wrapper compound">
 <ul>
-<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l2"><a class="reference internal" href="registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l1"><a class="reference internal" href="registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
@@ -405,14 +421,14 @@
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/2_installation/registration_script.html b/en/source/camera_devices/2_installation/registration_script.html
similarity index 71%
rename from en/source/2_installation/registration_script.html
rename to en/source/camera_devices/2_installation/registration_script.html
index ed0d5838..a6fa7e67 100644
--- a/en/source/2_installation/registration_script.html
+++ b/en/source/camera_devices/2_installation/registration_script.html
@@ -1,28 +1,28 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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+  <title>2.4. Registration Script (Required) &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
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+          <a href="../../../index.html" class="icon icon-home">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#environment">2.1.1. Environment</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="installation.html">2. Installation</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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 </li>
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-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="installation.html"><span class="section-number">2. </span>Installation</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">2.3. </span>Registration Script (Required)</li>
+      <li class="breadcrumb-item active"><span class="section-number">2.4. </span>Registration Script (Required)</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/2_installation/registration_script.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/2_installation/registration_script.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -379,17 +401,17 @@
            <div itemprop="articleBody">
              
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="registration-script-required">
-<h1><span class="section-number">2.3. </span>Registration Script (Required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1>
+<h1><span class="section-number">2.4. </span>Registration Script (Required)<a class="headerlink" href="#registration-script-required" title="Link to this heading"></a></h1>
 <p>To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.</p>
 <section id="binary-installation">
-<h2><span class="section-number">2.3.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" title="Link to this heading"></a></h2>
+<h2><span class="section-number">2.4.1. </span>Binary Installation<a class="headerlink" href="#binary-installation" title="Link to this heading"></a></h2>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
 sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
 </pre></div>
 </div>
 </section>
 <section id="build-from-source">
-<h2><span class="section-number">2.3.2. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h2>
+<h2><span class="section-number">2.4.2. </span>Build from Source<a class="headerlink" href="#build-from-source" title="Link to this heading"></a></h2>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w">  </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
 sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
 sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
@@ -404,7 +426,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
            </div>
           </div>
           <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="build_the_package.html" class="btn btn-neutral float-left" title="2.1. Binary Installation" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="build_the_package.html" class="btn btn-neutral float-left" title="2.1. Environment configuration" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
         <a href="../3_quickstarts/quickstarts.html" class="btn btn-neutral float-right" title="3. Quickstarts" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
     </div>
 
@@ -412,7 +434,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/3_quickstarts/orbbecviewer.html b/en/source/camera_devices/3_quickstarts/orbbecviewer.html
similarity index 73%
rename from en/source/3_quickstarts/orbbecviewer.html
rename to en/source/camera_devices/3_quickstarts/orbbecviewer.html
index 1c3022b6..d651b1d2 100644
--- a/en/source/3_quickstarts/orbbecviewer.html
+++ b/en/source/camera_devices/3_quickstarts/orbbecviewer.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>3.2. OrbbecViewer QuickStarts &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
-      <script src="../../_static/jquery.js?v=5d32c60e"></script>
-      <script src="../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
-      <script src="../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="4. Application Guide" href="../4_application_guide/application_guide.html" />
     <link rel="prev" title="3.1. ROS Package QuickStarts" href="quickstart.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="quickstarts.html"><span class="section-number">3. </span>Quickstarts</a></li>
       <li class="breadcrumb-item active"><span class="section-number">3.2. </span>OrbbecViewer QuickStarts</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/3_quickstarts/orbbecviewer.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -387,22 +409,22 @@
 <h2><span class="section-number">3.2.1. </span>Download<a class="headerlink" href="#download" title="Link to this heading"></a></h2>
 <p><strong>Repository link：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecViewer Download</a></p>
 <p>Select the appropriate version of OrbbecViewer according to your device type.</p>
-<p><img alt="orbbecviewer" src="../../_images/orbbecviewer1.png" /></p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer1.png" /></p>
 </section>
 <section id="connect-the-device">
 <h2><span class="section-number">3.2.2. </span>Connect the device<a class="headerlink" href="#connect-the-device" title="Link to this heading"></a></h2>
 <p>When the Orbbec Viewer is open, the current device connection status will be prominently displayed in the top left corner of the application window. This area provides instant feedback about whether the camera is connected and functioning properly.</p>
-<p><img alt="orbbecviewer" src="../../_images/orbbecviewer2.png" /></p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer2.png" /></p>
 </section>
 <section id="camera-control">
 <h2><span class="section-number">3.2.3. </span>Camera Control<a class="headerlink" href="#camera-control" title="Link to this heading"></a></h2>
 <p>You can quickly view the image using the buttons at the top of the window, and adjust image parameters in the camera panel on the left side of the window.</p>
-<p><img alt="orbbecviewer" src="../../_images/orbbecviewer3.png" /></p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer3.png" /></p>
 </section>
 <section id="device-information-and-firmware-upgrade">
 <h2><span class="section-number">3.2.4. </span>Device information and firmware upgrade<a class="headerlink" href="#device-information-and-firmware-upgrade" title="Link to this heading"></a></h2>
 <p>Click the icon at the bottom left corner of the window to view the current camera information and upgrade the firmware.</p>
-<p><img alt="orbbecviewer" src="../../_images/orbbecviewer4.png" /></p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer4.png" /></p>
 <p>Please refer to the list below for the latest camera firmware. <a class="reference external" href="https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/">For more information, please click here.</a></p>
 <p><strong>Repository link：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download">Firmware Download</a></p>
 <table border="1" class="docutils">
@@ -475,7 +497,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/3_quickstarts/quickstart.html b/en/source/camera_devices/3_quickstarts/quickstart.html
similarity index 74%
rename from en/source/3_quickstarts/quickstart.html
rename to en/source/camera_devices/3_quickstarts/quickstart.html
index 440779b6..40e6dd8d 100644
--- a/en/source/3_quickstarts/quickstart.html
+++ b/en/source/camera_devices/3_quickstarts/quickstart.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>3.1. ROS Package QuickStarts &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
-      <script src="../../_static/jquery.js?v=5d32c60e"></script>
-      <script src="../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-      <script src="../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="3.2. OrbbecViewer QuickStarts" href="orbbecviewer.html" />
     <link rel="prev" title="3. Quickstarts" href="quickstarts.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="quickstarts.html">3. Quickstarts</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/3_quickstarts/quickstarts.html b/en/source/camera_devices/3_quickstarts/quickstarts.html
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+++ b/en/source/camera_devices/3_quickstarts/quickstarts.html
@@ -1,28 +1,28 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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+    <link rel="search" title="Search" href="../../../search.html" />
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../index.html" class="icon icon-home">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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 </li>
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-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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@@ -403,7 +425,7 @@
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+        <a href="../2_installation/registration_script.html" class="btn btn-neutral float-left" title="2.4. Registration Script (Required)" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
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+++ b/en/source/camera_devices/4_application_guide/application_guide.html
@@ -1,26 +1,26 @@
 
 
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@@ -33,11 +33,11 @@
 
           
           
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </ul>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
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-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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@@ -437,7 +460,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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@@ -1,26 +1,26 @@
 
 
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-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="4.6. Enabling and Visualizing Point Cloud in ROS 2" href="point_cloud.html" />
     <link rel="prev" title="4.4. Coordinate Systems and TF Transforms" href="coordinate_and_tf.html" /> 
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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 </li>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </li>
 </ul>
 </li>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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-            <a href="../../_sources/source/4_application_guide/compressed_image.md.txt" rel="nofollow"> View page source</a>
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@@ -400,7 +422,7 @@
 
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+++ b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../">
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-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">4.4. </span>Coordinate Systems and TF Transforms</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/coordinate_and_tf.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -382,8 +404,8 @@
 <h1><span class="section-number">4.4. </span>Coordinate Systems and TF Transforms<a class="headerlink" href="#coordinate-systems-and-tf-transforms" title="Link to this heading"></a></h1>
 <section id="camera-sensor-structure">
 <h2><span class="section-number">4.4.1. </span>Camera sensor structure<a class="headerlink" href="#camera-sensor-structure" title="Link to this heading"></a></h2>
-<p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
-<p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
+<p><img alt="module in rviz2" src="../../../_images/image3.png" /></p>
+<p><img alt="module in rviz2" src="../../../_images/image1.png" /></p>
 </section>
 <section id="tf-from-coordinate-a-to-coordinate-b">
 <h2><span class="section-number">4.4.2. </span>TF from coordinate A to coordinate B:<a class="headerlink" href="#tf-from-coordinate-a-to-coordinate-b" title="Link to this heading"></a></h2>
@@ -392,7 +414,7 @@
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
 </pre></div>
 </div>
-<p><img alt="module in rviz2" src="../../_images/image2.png" /></p>
+<p><img alt="module in rviz2" src="../../../_images/image2.png" /></p>
 </section>
 <section id="ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">
 <h2><span class="section-number">4.4.3. </span>ROS2 Robot Coordinate System vs Camera Optical Coordinate System<a class="headerlink" href="#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system" title="Link to this heading"></a></h2>
@@ -404,7 +426,7 @@
 </ul>
 </li>
 </ul>
-<p><img alt="ROS2 and Camera Coordinate System" src="../../_images/image0.png" /></p>
+<p><img alt="ROS2 and Camera Coordinate System" src="../../../_images/image0.png" /></p>
 <ul class="simple">
 <li><p>ROS2 Coordinate System: (X: Forward, Y: Left, Z: Up)</p></li>
 <li><p>Camera Optical Coordinate System: (X: Right, Y: Down, Z: Forward)</p></li>
@@ -422,7 +444,7 @@
 </pre></div>
 </div>
 <p>This command generates a <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code> file showing the hierarchy between all frames.</p>
-<p><img alt="image-20251027111351870" src="../../_images/image4.png" /></p>
+<p><img alt="image-20251027111351870" src="../../../_images/image4.png" /></p>
 <p><strong>View all currently published TF information:</strong></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/tf_static
 </pre></div>
@@ -469,7 +491,7 @@
 <li><p>Set the Fixed Frame to <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> or <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
 <li><p>Select which TF frames to display</p></li>
 </ul>
-<p><img alt="image-20251027140652727" src="../../_images/image5.png" /></p>
+<p><img alt="image-20251027140652727" src="../../../_images/image5.png" /></p>
 </section>
 </section>
 <section id="camera-tf-calculation-and-publishing-mechanism">
@@ -727,7 +749,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/4_application_guide/launch_parameters.html b/en/source/camera_devices/4_application_guide/launch_parameters.html
similarity index 83%
rename from en/source/4_application_guide/launch_parameters.html
rename to en/source/camera_devices/4_application_guide/launch_parameters.html
index 5078a94f..ba78bfcc 100644
--- a/en/source/4_application_guide/launch_parameters.html
+++ b/en/source/camera_devices/4_application_guide/launch_parameters.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>4.1. Launch parameters &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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     <link rel="next" title="4.2. All available services for camera control" href="services.html" />
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 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">4.1. </span>Launch parameters</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/launch_parameters.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -473,6 +495,16 @@
 <li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
 </ul>
 </li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
+<ul>
+<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling; larger values apply stronger decimation.</p></li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
+<ul>
+<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Only supported on specific devices like Gemini2. Leave empty to disable.</p></li>
+</ul>
+</li>
 </ul>
 </section>
 <section id="sensor-controls">
@@ -788,7 +820,7 @@
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">intra_camera_sync_reference</span></code></strong></p>
 <ul>
-<li><p>Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> is set to <strong>software</strong> or <strong>hardware trigger</strong> mode. <strong>Options:</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>, <code class="docutils literal notranslate"><span class="pre">Middle</span></code>, <code class="docutils literal notranslate"><span class="pre">End</span></code>. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">Middle</span></code></p></li>
+<li><p>Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> is set to <strong>software</strong> or <strong>hardware trigger</strong> mode. <strong>Options:</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>, <code class="docutils literal notranslate"><span class="pre">Middle</span></code>, <code class="docutils literal notranslate"><span class="pre">End</span></code>. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.</p></li>
 </ul>
 </li>
 </ul>
@@ -892,6 +924,11 @@
 <li><p>SDK log level. Default is <code class="docutils literal notranslate"><span class="pre">info</span></code>. Optional values: <code class="docutils literal notranslate"><span class="pre">debug</span></code>, <code class="docutils literal notranslate"><span class="pre">info</span></code>, <code class="docutils literal notranslate"><span class="pre">warn</span></code>, <code class="docutils literal notranslate"><span class="pre">error</span></code>, <code class="docutils literal notranslate"><span class="pre">fatal</span></code>.</p></li>
 </ul>
 </li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_file_name</span></code></strong></p>
+<ul>
+<li><p>Saved SDK log file name. Effective when <code class="docutils literal notranslate"><span class="pre">log_level</span></code> is <code class="docutils literal notranslate"><span class="pre">debug</span></code>.</p></li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
 <ul>
 <li><p>Diagnostic period in seconds.</p></li>
@@ -1038,7 +1075,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/4_application_guide/point_cloud.html b/en/source/camera_devices/4_application_guide/point_cloud.html
similarity index 71%
rename from en/source/4_application_guide/point_cloud.html
rename to en/source/camera_devices/4_application_guide/point_cloud.html
index 05fcf1c3..5e4a9a6e 100644
--- a/en/source/4_application_guide/point_cloud.html
+++ b/en/source/camera_devices/4_application_guide/point_cloud.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>4.6. Enabling and Visualizing Point Cloud in ROS 2 &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
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-      <script src="../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="5. Advanced Guide" href="../5_advanced_guide/advanced_guide.html" />
     <link rel="prev" title="4.5. Compressed Image" href="compressed_image.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
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-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">4.6. </span>Enabling and Visualizing Point Cloud in ROS 2</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/point_cloud.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/point_cloud.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -403,7 +425,7 @@
 <li><p><strong>Example Visualization</strong></p></li>
 </ul>
 <p>Here is what the depth point cloud might look like in RViz2:</p>
-<p><img alt="Depth Point Cloud Visualization" src="../../_images/image5.jpg" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../_images/image5.jpg" /></p>
 </section>
 </section>
 <section id="enabling-colored-point-cloud">
@@ -428,7 +450,7 @@
 <li><p><strong>Example Visualization</strong></p></li>
 </ul>
 <p>The result of the colored point cloud in RViz2 should look similar to this:</p>
-<p><img alt="Colored Point Cloud Visualization" src="../../_images/image6.jpg" /></p>
+<p><img alt="Colored Point Cloud Visualization" src="../../../_images/image6.jpg" /></p>
 </section>
 </section>
 </section>
@@ -445,7 +467,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/4_application_guide/services.html b/en/source/camera_devices/4_application_guide/services.html
similarity index 81%
rename from en/source/4_application_guide/services.html
rename to en/source/camera_devices/4_application_guide/services.html
index f127d9e0..dd7f0890 100644
--- a/en/source/4_application_guide/services.html
+++ b/en/source/camera_devices/4_application_guide/services.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>4.2. All available services for camera control &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
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-      <script src="../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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-      <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="4.3. Available Topics" href="topics.html" />
     <link rel="prev" title="4.1. Launch parameters" href="launch_parameters.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
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           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/services.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/services.md.txt" rel="nofollow"> View page source</a>
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   <hr/>
@@ -702,6 +724,21 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </li>
 </ul>
 </section>
+<section id="point-cloud-decimation">
+<h2><span class="section-number">4.2.7. </span>Point cloud decimation<a class="headerlink" href="#point-cloud-decimation" title="Link to this heading"></a></h2>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
+</pre></div>
+</div>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
+</pre></div>
+</div>
+</li>
+</ul>
+</section>
 </section>
 
 
@@ -716,7 +753,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/4_application_guide/topics.html b/en/source/camera_devices/4_application_guide/topics.html
similarity index 74%
rename from en/source/4_application_guide/topics.html
rename to en/source/camera_devices/4_application_guide/topics.html
index 5cb744e2..28d0d09c 100644
--- a/en/source/4_application_guide/topics.html
+++ b/en/source/camera_devices/4_application_guide/topics.html
@@ -1,26 +1,26 @@
 
 
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-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
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-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="4.4. Coordinate Systems and TF Transforms" href="coordinate_and_tf.html" />
     <link rel="prev" title="4.2. All available services for camera control" href="services.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="application_guide.html">4. Application Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
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       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/topics.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/topics.md.txt" rel="nofollow"> View page source</a>
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@@ -510,7 +532,7 @@
 
   <div role="contentinfo">
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+++ b/en/source/camera_devices/5_advanced_guide/advanced_guide.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../">
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@@ -33,11 +33,11 @@
 
           
           
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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@@ -485,7 +507,7 @@
 
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/5_advanced_guide/configuration/align_depth_color.html b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
similarity index 76%
rename from en/source/5_advanced_guide/configuration/align_depth_color.html
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index b8a8e182..e440343f 100644
--- a/en/source/5_advanced_guide/configuration/align_depth_color.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../../">
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
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@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../../index.html" class="icon icon-home">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">5.3.1. </span>Aligning Depth to Color in ROS 2</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../../_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -406,14 +428,14 @@
 <ol>
 <li><p>Launch RViz2 after running one of the above commands.</p></li>
 <li><p>Select the topic for the depth to color overlay image. An example topic selection is shown here:</p>
-<p><img alt="Topic Selection for Depth to Color Overlay" src="../../../_images/image31.png" /></p>
+<p><img alt="Topic Selection for Depth to Color Overlay" src="../../../../_images/image31.png" /></p>
 </li>
 </ol>
 </section>
 <section id="example-of-depth-to-color-overlay">
 <h2><span class="section-number">5.3.1.3. </span>Example of Depth to Color Overlay<a class="headerlink" href="#example-of-depth-to-color-overlay" title="Link to this heading"></a></h2>
 <p>After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here’s what it might look like:</p>
-<p><img alt="Depth to Color Overlay Image" src="../../../_images/image4.jpg" /></p>
+<p><img alt="Depth to Color Overlay Image" src="../../../../_images/image4.jpg" /></p>
 </section>
 </section>
 
@@ -429,7 +451,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
similarity index 75%
rename from en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
rename to en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
index 8a665a46..5e0d979e 100644
--- a/en/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
@@ -1,26 +1,26 @@
 
 
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-<html class="writer-html5" lang="en" data-content_root="../../../">
+<html class="writer-html5" lang="en" data-content_root="../../../../">
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   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.2. Configuration of depth NFOV and WFOV modes &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.3. Depth work mode switch" href="depth_work_mode_switch.html" />
     <link rel="prev" title="5.3.1. Aligning Depth to Color in ROS 2" href="align_depth_color.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
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 </li>
 </ul>
 </li>
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+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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+</li>
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+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
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-    <link rel="index" title="Index" href="../../../genindex.html" />
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.4. Disparity_search_offset" href="disparity_search_offset.html" />
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+++ b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
@@ -1,26 +1,26 @@
 
 
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+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.5. Using interleave_ae with Gemini330 series cameras" href="interleave_ae_mode.html" />
     <link rel="prev" title="5.3.3. Depth work mode switch" href="depth_work_mode_switch.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">5.3.4. </span>Disparity_search_offset</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../../_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> View page source</a>
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   <hr/>
@@ -386,7 +408,7 @@
 <section id="function-introduction">
 <h2><span class="section-number">5.3.4.1. </span>Function Introduction<a class="headerlink" href="#function-introduction" title="Link to this heading"></a></h2>
 <p>The definition of disparity search range: For any pixel <em>(u_l, v)</em> in the left image, by default, the corresponding disparity search range in the right image is <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>, where the disparity search length is 256 and the maximum integer disparity is 255. If the starting point of the search is adjusted to <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>, the offset is defined as the disparity shift. Therefore, our disparity search range configuration includes both the disparity search length and the search position offset (which can also be referred to as the disparity shift).</p>
-<p><img alt="Depth Point Cloud Visualization" src="../../../_images/search_offset0.png" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/search_offset0.png" /></p>
 </section>
 <section id="parameter-introduction">
 <h2><span class="section-number">5.3.4.2. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h2>
@@ -485,7 +507,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/5_advanced_guide/configuration/interleave_ae_mode.html b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
similarity index 78%
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rename to en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
index 82dec16e..5316c0ed 100644
--- a/en/source/5_advanced_guide/configuration/interleave_ae_mode.html
+++ b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../../">
+<html class="writer-html5" lang="en" data-content_root="../../../../">
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   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>5.3.5. Using interleave_ae with Gemini330 series cameras &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.6. Predefined presets" href="predefined_presets.html" />
     <link rel="prev" title="5.3.4. Disparity_search_offset" href="disparity_search_offset.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
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+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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@@ -45,310 +45,331 @@
 </div>
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">5.3.5. </span>Using interleave_ae with Gemini330 series cameras</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../../_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -428,8 +450,8 @@
 </pre></div>
 </div>
 <p><strong>Example Visualization</strong></p>
-<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae0.jpeg" /></p>
-<p><img alt="Depth Point Cloud Visualization" src="../../../_images/interleave_ae1.jpeg" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/interleave_ae0.jpeg" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/interleave_ae1.jpeg" /></p>
 </section>
 <section id="multi-camera-synced-interleave-ae">
 <h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
@@ -449,7 +471,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
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+++ b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html
@@ -1,26 +1,26 @@
 
 
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@@ -33,11 +33,11 @@
 
           
           
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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@@ -1,26 +1,26 @@
 
 
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-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.7. Net_camera" href="net_camera.html" />
     <link rel="prev" title="5.3.5. Using interleave_ae with Gemini330 series cameras" href="interleave_ae_mode.html" /> 
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
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-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.3.1. Aligning Depth to Color in ROS 2" href="../configuration/align_depth_color.html" />
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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@@ -1,26 +1,26 @@
 
 
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.2.2. Multi_camera synced Instructions" href="multi_camera_synced.html" />
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
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+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">5.2.2. </span>Multi_camera synced Instructions</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../../_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -389,7 +411,7 @@
 <li><p>Please read the Multi-Camera Synchronization Setup Guide:<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">Multi-Camera Synchronization Setup</a></p></li>
 <li><p>Make sure the camera is correctly connected to the multi-camera synchronizer.</p></li>
 </ul>
-<p><img alt="Depth Point Cloud Visualization" src="../../../_images/multi_camera_synced1.png" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/multi_camera_synced1.png" /></p>
 </section>
 <section id="checking-camera-port-with-orbbecsdk-ros2">
 <h2><span class="section-number">5.2.2.2. </span>Checking camera port with OrbbecSDK_ROS2<a class="headerlink" href="#checking-camera-port-with-orbbecsdk-ros2" title="Link to this heading"></a></h2>
@@ -400,7 +422,7 @@
 <section id="orbbecsdk-ros2-multi-camera-synced-configuration">
 <h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 multi-camera synced configuration<a class="headerlink" href="#orbbecsdk-ros2-multi-camera-synced-configuration" title="Link to this heading"></a></h2>
 <p>Open multi_camera_synced.launch.py, and configure the camera settings as shown below:</p>
-<p><img alt="Depth Point Cloud Visualization" src="../../../_images/multi_camera_synced2.png" /></p>
+<p><img alt="Depth Point Cloud Visualization" src="../../../../_images/multi_camera_synced2.png" /></p>
 <ol class="simple">
 <li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> is the launch file for starting the camera.</p></li>
 <li><p>Set <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> to <code class="docutils literal notranslate"><span class="pre">G330_0</span></code>. For example, the published color image topic will be <code class="docutils literal notranslate"><span class="pre">/G330_0/color/image_raw</span></code>.</p></li>
@@ -472,7 +494,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
similarity index 82%
rename from en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
rename to en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
index 1c333cf3..14980084 100644
--- a/en/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
+++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../../">
+<html class="writer-html5" lang="en" data-content_root="../../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
 
   
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
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     <link rel="prev" title="5.2.2. Multi_camera synced Instructions" href="multi_camera_synced.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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     <input type="hidden" name="check_keywords" value="yes" />
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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@@ -556,7 +578,7 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/5_advanced_guide/performance/efficient_intra_process_communication.html b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
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index 49a4e7d5..b773c273 100644
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+++ b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../../">
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
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+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
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@@ -33,11 +33,11 @@
 
           
           
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
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+          <a href="../../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="../advanced_guide.html"><span class="section-number">5. </span>Advanced Guide</a></li>
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       <li class="wy-breadcrumbs-aside">
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@@ -426,7 +448,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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@@ -1,26 +1,26 @@
 
 
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.2.1. Multi-Camera" href="../multi_camera/multi_camera.html" />
     <link rel="prev" title="5.1.2. Efficient intra-process communication:" href="efficient_intra_process_communication.html" /> 
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
+<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
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 </li>
 </ul>
 </li>
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+<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
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+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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@@ -531,7 +553,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>
 
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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@@ -1,26 +1,26 @@
 
 
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-    <script src="../../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../../genindex.html" />
-    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../../search.html" />
     <link rel="next" title="5.1.2. Efficient intra-process communication:" href="efficient_intra_process_communication.html" />
     <link rel="prev" title="5. Advanced Guide" href="../advanced_guide.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../../index.html" class="icon icon-home">
+          <a href="../../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
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@@ -45,310 +45,331 @@
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html">5. Advanced Guide</a><ul class="current">
+<li class="toctree-l3 current"><a class="reference internal" href="../advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul class="current">
+<li class="toctree-l4 current"><a class="current reference internal" href="#">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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+</li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
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+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
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+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../../index.html">Camera Devices</a></li>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
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@@ -1,26 +1,26 @@
 
 
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-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="6.1. Introduction" href="introduction.html" />
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 </head>
@@ -33,11 +33,11 @@
 
           
           
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
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 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
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 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
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+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
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   <div role="contentinfo">
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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@@ -33,11 +33,11 @@
 
           
           
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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diff --git a/en/source/6_benchmark/benchmark_usage.html b/en/source/camera_devices/6_benchmark/benchmark_usage.html
similarity index 79%
rename from en/source/6_benchmark/benchmark_usage.html
rename to en/source/camera_devices/6_benchmark/benchmark_usage.html
index a8ca5c5a..01ec034b 100644
--- a/en/source/6_benchmark/benchmark_usage.html
+++ b/en/source/camera_devices/6_benchmark/benchmark_usage.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
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@@ -33,11 +33,11 @@
 
           
           
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@@ -45,310 +45,331 @@
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
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           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
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         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
       <li class="breadcrumb-item active"><span class="section-number">6.2. </span>Benchmark Usage</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> View page source</a>
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   </ul>
   <hr/>
@@ -513,7 +535,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/6_benchmark/introduction.html b/en/source/camera_devices/6_benchmark/introduction.html
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index 132211e3..b9bb1ddf 100644
--- a/en/source/6_benchmark/introduction.html
+++ b/en/source/camera_devices/6_benchmark/introduction.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
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+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
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-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="6.2. Benchmark Usage" href="benchmark_usage.html" />
     <link rel="prev" title="6. Benchmark" href="benchmark.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
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@@ -45,310 +45,331 @@
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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 </li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -359,18 +380,19 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
       <li class="breadcrumb-item active"><span class="section-number">6.1. </span>Introduction</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/6_benchmark/introduction.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/6_benchmark/introduction.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -394,8 +416,8 @@
 </ul>
 <p><strong>Example</strong></p>
 <p>In ROS1, both frame drop rate and packet loss rate can be measured, while in ROS2, the header lacks the <code class="docutils literal notranslate"><span class="pre">seq</span></code> field, so only the publisher-side frame drop rate is calculated.</p>
-<p><img alt="common_benchmark_ros1" src="../../_images/common_benchmark_ros1.png" /></p>
-<p><img alt="common_benchmark_ros2" src="../../_images/common_benchmark_ros2.png" /></p>
+<p><img alt="common_benchmark_ros1" src="../../../_images/common_benchmark_ros1.png" /></p>
+<p><img alt="common_benchmark_ros2" src="../../../_images/common_benchmark_ros2.png" /></p>
 </section>
 <section id="service-benchmark-node">
 <h2><span class="section-number">6.1.2. </span>service benchmark node<a class="headerlink" href="#service-benchmark-node" title="Link to this heading"></a></h2>
@@ -407,7 +429,7 @@
 <li><p>Optionally save benchmark results to a CSV file</p></li>
 </ul>
 <p><strong>Example</strong></p>
-<p><img alt="service benchmark" src="../../_images/service_benchmark.png" /></p>
+<p><img alt="service benchmark" src="../../../_images/service_benchmark.png" /></p>
 <p>When you need to collect data for multiple services, it is recommended to use a CSV file for analysis.</p>
 </section>
 </section>
@@ -424,7 +446,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/6_benchmark/othertools.html b/en/source/camera_devices/6_benchmark/othertools.html
similarity index 75%
rename from en/source/6_benchmark/othertools.html
rename to en/source/camera_devices/6_benchmark/othertools.html
index e9069bf7..7997ab98 100644
--- a/en/source/6_benchmark/othertools.html
+++ b/en/source/camera_devices/6_benchmark/othertools.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>6.4. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../_static/css/theme.css?v=e59714d7" />
-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
-    <link rel="shortcut icon" href="../../_static/orbbec_footerlogo_3d_world.svg"/>
-      <script src="../../_static/jquery.js?v=5d32c60e"></script>
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-      <script src="../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../_static/sphinx_highlight.js?v=dc90522c"></script>
-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="7. Developer Guide" href="../7_developer_guide/developer_guide.html" />
     <link rel="prev" title="6.3. Benchmark Data" href="benchmark_data.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
           </a>
 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
     <input type="hidden" name="area" value="default" />
@@ -45,310 +45,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="benchmark.html">6. Benchmark</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="benchmark.html"><span class="section-number">6. </span>Benchmark</a></li>
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-            <a href="../../_sources/source/6_benchmark/othertools.md.txt" rel="nofollow"> View page source</a>
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     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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index aa2d3d00..bfd65dc8 100644
--- a/en/source/7_developer_guide/building_a_Debian_Package.html
+++ b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
@@ -1,26 +1,26 @@
 
 
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-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
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@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
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@@ -45,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="developer_guide.html">7. Developer Guide</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="developer_guide.html">7. Developer Guide</a><ul class="current">
+<li class="toctree-l3"><a class="reference internal" href="migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="developer_guide.html"><span class="section-number">7. </span>Developer Guide</a></li>
       <li class="breadcrumb-item active"><span class="section-number">7.2. </span>Building a Debian Package</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/7_developer_guide/building_a_Debian_Package.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt" rel="nofollow"> View page source</a>
       </li>
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   <hr/>
@@ -431,7 +453,7 @@ bash<span class="w"> </span>.make_deb.sh
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/7_developer_guide/developer_guide.html b/en/source/camera_devices/7_developer_guide/developer_guide.html
similarity index 72%
rename from en/source/7_developer_guide/developer_guide.html
rename to en/source/camera_devices/7_developer_guide/developer_guide.html
index 1869ea7b..8e7f9705 100644
--- a/en/source/7_developer_guide/developer_guide.html
+++ b/en/source/camera_devices/7_developer_guide/developer_guide.html
@@ -1,26 +1,26 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="en" data-content_root="../../">
+<html class="writer-html5" lang="en" data-content_root="../../../">
 <head>
   <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
 
   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
   <title>7. Developer Guide &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
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+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
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-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="7.1. Migrating from main to Open-Source v2-main" href="migration_guide.html" />
     <link rel="prev" title="6.4. Other Tools" href="../6_benchmark/othertools.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
     <input type="hidden" name="check_keywords" value="yes" />
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@@ -45,310 +45,331 @@
 </div>
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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 </li>
 </ul>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
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-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
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           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
       <li class="breadcrumb-item active"><span class="section-number">7. </span>Developer Guide</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/7_developer_guide/developer_guide.rst.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt" rel="nofollow"> View page source</a>
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   <hr/>
@@ -410,7 +432,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
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diff --git a/en/source/7_developer_guide/migration_guide.html b/en/source/camera_devices/7_developer_guide/migration_guide.html
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index 845050d9..b48ee90c 100644
--- a/en/source/7_developer_guide/migration_guide.html
+++ b/en/source/camera_devices/7_developer_guide/migration_guide.html
@@ -1,26 +1,26 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../">
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
 
   
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-    <script src="../../_static/js/theme.js"></script>
-    <link rel="index" title="Index" href="../../genindex.html" />
-    <link rel="search" title="Search" href="../../search.html" />
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
     <link rel="next" title="7.2. Building a Debian Package" href="building_a_Debian_Package.html" />
     <link rel="prev" title="7. Developer Guide" href="developer_guide.html" /> 
 </head>
@@ -33,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
             OrbbecSDK V2 ROS2 Wrapper
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 <div role="search">
-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
     <input type="text" name="q" placeholder="Search docs" aria-label="Search docs" />
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@@ -45,310 +45,331 @@
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               <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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 </li>
 </ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
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 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
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 </li>
 </ul>
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-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="reference internal" href="developer_guide.html">7. Developer Guide</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2 current"><a class="reference internal" href="developer_guide.html">7. Developer Guide</a><ul class="current">
+<li class="toctree-l3 current"><a class="current reference internal" href="#">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
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 </li>
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 </li>
-<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
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-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
           <li class="breadcrumb-item"><a href="developer_guide.html"><span class="section-number">7. </span>Developer Guide</a></li>
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       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/7_developer_guide/migration_guide.md.txt" rel="nofollow"> View page source</a>
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@@ -1226,7 +1248,7 @@
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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similarity index 73%
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index 3e5b1017..46d9108a 100644
--- a/en/source/8_FAQ/FAQ.html
+++ b/en/source/camera_devices/8_FAQ/FAQ.html
@@ -1,26 +1,27 @@
 
 
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+<html class="writer-html5" lang="en" data-content_root="../../../">
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-    <link rel="index" title="Index" href="../../genindex.html" />
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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+    <link rel="index" title="Index" href="../../../genindex.html" />
+    <link rel="search" title="Search" href="../../../search.html" />
+    <link rel="next" title="1. Lidar Devices" href="../../lidar_devices/index.html" />
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 </head>
 
@@ -32,11 +33,11 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
+          <a href="../../../index.html" class="icon icon-home">
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-  <form id="rtd-search-form" class="wy-form" action="../../search.html" method="get">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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@@ -44,310 +45,331 @@
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="current">
+<li class="toctree-l2"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2 current"><a class="current reference internal" href="#">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -358,17 +380,18 @@
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="Page navigation">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
       <li class="breadcrumb-item active"><span class="section-number">8. </span>Frequently Asked Questions</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/8_FAQ/FAQ.md.txt" rel="nofollow"> View page source</a>
+            <a href="../../../_sources/source/camera_devices/8_FAQ/FAQ.md.txt" rel="nofollow"> View page source</a>
       </li>
   </ul>
   <hr/>
@@ -443,6 +466,17 @@
 </ul>
 <p>Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior.</p>
 </section>
+<section id="femto-bolt-depth-stream-no-data">
+<h2><span class="section-number">8.7. </span>femto bolt depth stream no data<a class="headerlink" href="#femto-bolt-depth-stream-no-data" title="Link to this heading"></a></h2>
+<p>This module depends on the OpenGL library at runtime. If OpenGL is not installed or the graphics driver is incomplete, the depth stream may output no data. Please make sure to install the necessary OpenGL libraries first (Ubuntu example below):</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>mesa-utils<span class="w"> </span>libgl1-mesa-glx<span class="w"> </span>libglu1-mesa
+</pre></div>
+</div>
+<p>After installation, you can check whether OpenGL is available through the following command:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>glxinfo<span class="w"> </span>-B
+</pre></div>
+</div>
+</section>
 </section>
 
 
@@ -450,13 +484,14 @@
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+        <a href="../../lidar_devices/index.html" class="btn btn-neutral float-right" title="1. Lidar Devices" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
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-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
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diff --git a/en/source/camera_devices/index.html b/en/source/camera_devices/index.html
new file mode 100644
index 00000000..8a71be80
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@@ -0,0 +1,598 @@
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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="../../">
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+              <ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
+        </div>
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+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="camera-devices">
+<h1>Camera Devices<a class="headerlink" href="#camera-devices" title="Link to this heading"></a></h1>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a></li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#stream-control">4.2.1. Stream Control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a></li>
+<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a></li>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+
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+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
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diff --git a/en/source/license.html b/en/source/license.html
index 40a3d833..85949e21 100644
--- a/en/source/license.html
+++ b/en/source/license.html
@@ -43,310 +43,331 @@
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="Navigation menu">
               <ul>
-<li class="toctree-l1"><a class="reference internal" href="1_overview/overview.html">1. Overview</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="1_overview/introduction.html">1.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+<li class="toctree-l1"><a class="reference internal" href="camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. Installation</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html">2.1. Binary Installation</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-binary-package-installation">2.1.2. Linux Binary Package Installation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#build-from-source">2.2. Build from Source</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.2.1. Linux ROS2 Wrapper Compilation</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.3. Registration Script (Required)</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#binary-installation">2.3.1. Binary Installation</a></li>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#build-from-source">2.3.2. Build from Source</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="4_application_guide/application_guide.html">4. Application Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/services.html">4.2. All available services for camera control</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/topics.html">4.3. Available Topics</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-multi-camera-synced-launch-py-as-follows">5.2.3.1.1. <strong>Modify <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> as follows</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#modify-configuration-files">5.2.3.1.2. <strong>Modify configuration files</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch-and-verification">5.2.3.1.3. <strong>Launch and Verification</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#reference-launch-file">5.2.3.1.4. <strong>Reference Launch File</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
 </ul>
 </li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#increase-usb-buffer-memory">5.2.3.2.1. <strong>Increase USB Buffer Memory</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#configure-fast-dds">5.2.3.2.2. <strong>Configure Fast DDS</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
 </ul>
 </li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="6_benchmark/benchmark.html">6. Benchmark</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/introduction.html">6.1. Introduction</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. Other Tools</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="camera_devices/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
 </ul>
 </li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l2"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="lidar_devices/index.html">1. Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="lidar_devices/lidar.html#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="lidar_devices/lidar.html#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
 </ul>
 </li>
 </ul>
@@ -396,7 +417,7 @@ language governing permissions and limitations under the License.</p>
 
   <div role="contentinfo">
     <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2025-12-15 11:57:22.
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
       </span></p>
   </div>
 
diff --git a/en/source/lidar_devices/index.html b/en/source/lidar_devices/index.html
new file mode 100644
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@@ -0,0 +1,443 @@
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+<!DOCTYPE html>
+<html class="writer-html5" lang="en" data-content_root="../../">
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+<li class="toctree-l1"><a class="reference internal" href="../camera_devices/index.html">Camera Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/1_overview/overview.html">1. Overview</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html#build-from-source">2.3. Build from Source</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html#build-from-source">2.4.2. Build from Source</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html">3.1. ROS Package QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#introduction">3.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#sample-features">3.1.3. Sample Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#list-available-topics-services-parameters">3.1.3.1. List available topics / services/ parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#echo-a-topic">3.1.3.2. Echo a topic</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#call-a-service">3.1.3.3. Call a service</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#record-with-rosbag2">3.1.3.4. Record with rosbag2</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer QuickStarts</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#download">3.2.1. Download</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#connect-the-device">3.2.2. Connect the device</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#camera-control">3.2.3. Camera Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/3_quickstarts/orbbecviewer.html#device-information-and-firmware-upgrade">3.2.4. Device information and firmware upgrade</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
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+</li>
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+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/introduction.html">1.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#orbbec-camera-datasheet">1.1.2. Orbbec camera datasheet</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/introduction.html#support-platforms">1.1.3. Support Platforms</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#terms">1.2.1. Terms</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/1_overview/orbbecsdk_overview.html#sdk-programming-model">1.2.4. SDK Programming Model</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/2_installation/installation.html">2. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html">2.1. Environment configuration</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/build_the_package.html#linux-binary-package-installation">2.2. Linux Binary Package Installation</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html">2.4. Registration Script (Required)</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/2_installation/registration_script.html#binary-installation">2.4.1. Binary Installation</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-2-launch-the-camera-node">3.1.2.2. Step 2: Launch the Camera Node</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#ir-stream">4.1.2.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#device-sync-advanced-features">4.1.3. Device, Sync &amp; Advanced Features</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#network-cameras">4.1.3.2. Network Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#device-specific">4.1.3.3. Device-Specific</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#disparity">4.1.3.4. Disparity</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#intra-camera-synchronization">4.1.3.6. Intra-Camera Synchronization</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#tf-extrinsics-calibration">4.1.4.2. TF, Extrinsics &amp; Calibration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#time-synchronization">4.1.4.3. Time Synchronization</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#logging-diagnostics">4.1.4.4. Logging &amp; Diagnostics</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#miscellaneous">4.1.4.5. Miscellaneous</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/services.html#point-cloud-decimation">4.2.7. Point cloud decimation</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html">4.3. Available Topics</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#camera-sensor-structure">4.4.1. Camera sensor structure</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#tf-from-coordinate-a-to-coordinate-b">4.4.2. TF from coordinate A to coordinate B:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#ros2-robot-coordinate-system-vs-camera-optical-coordinate-system">4.4.3. ROS2 Robot Coordinate System vs Camera Optical Coordinate System</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#using-ros2-tf-tools">4.4.4. Using ROS2 TF Tools</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#view-tf-tree-structure">4.4.4.1. View TF Tree Structure</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#visualize-tf-tree-in-rviz2">4.4.4.2. Visualize TF Tree in rviz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#camera-tf-calculation-and-publishing-mechanism">4.4.5. Camera TF Calculation and Publishing Mechanism</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#core-function-obcameranode-calcandpublishstatictransform">4.4.5.1. Core Function: OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/coordinate_and_tf.html#function-breakdown">4.4.5.2. Function Breakdown</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html">4.6. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#enabling-depth-point-cloud">4.6.1. Enabling Depth Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#command-to-enable-depth-point-cloud">4.6.1.1. Command to Enable Depth Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#visualizing-depth-point-cloud-in-rviz2">4.6.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#enabling-colored-point-cloud">4.6.2. Enabling Colored Point Cloud</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#command-to-enable-colored-point-cloud">4.6.2.1. Command to Enable Colored Point Cloud</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/4_application_guide/point_cloud.html#visualizing-colored-point-cloud-in-rviz2">4.6.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html">5. Advanced Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#performance-optimization">5.1. Performance &amp; Optimization</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. Reducing CPU Usage with Orbbec ROS Package</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.1.1.1. Recommended Settings for Lower CPU Usage</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#launch-files-used-for-testing">5.1.1.2. Launch Files Used for Testing</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-environment">5.1.1.3. Test environment</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-setup">5.1.1.4. Test Setup</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#test-results">5.1.1.5. Test Results</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/lower_cpu_usage.html#further-optimizationa">5.1.1.6. Further Optimizationa</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. Efficient intra-process communication:</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#introduction">5.1.2.1. Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html#example">5.1.2.2. Example</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#adjusting-system-parameters">5.1.3.1. Adjusting System Parameters</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/performance/fastdds_tuning.html#fast-dds-configuration">5.1.3.2. Fast DDS Configuration</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#multi-camera">5.2. Multi-Camera</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. Multi-Camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#no-data-stream-from-multiple-cameras">5.2.1.1. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.2.1.2. Image topic frame rate too low from Multiple Cameras</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. Multi_camera synced Instructions</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#setup-instructions">5.2.2.1. Setup instructions</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.2.2.2. Checking camera port with OrbbecSDK_ROS2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2-multi-camera-synced-configuration">5.2.2.3. OrbbecSDK_ROS2 multi-camera synced configuration</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html#run-the-following-command-to-start-the-multi-camera-synced">5.2.2.4. Run the following command to start the multi-camera synced</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. Multi-Camera Synchronization Verification Node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usage-guide">5.2.3.1. Usage Guide</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#system-configuration-requirements">5.2.3.2. System Configuration Requirements</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#single-gmsl-camera">5.2.4.1. Single GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera">5.2.4.2. Multi GMSL camera</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#multi-gmsl-camera-synced">5.2.4.3. Multi GMSL camera synced</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html#usage-limitations-of-gmsl-cameras">5.2.4.4. Usage Limitations of GMSL Cameras</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/5_advanced_guide/advanced_guide.html#configuration-modes">5.3. Configuration &amp; Modes</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html">5.3.1. Aligning Depth to Color in ROS 2</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.3.1.1. Commands to Align and View Depth and Color Images</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#selecting-topics-in-rviz2">5.3.1.2. Selecting Topics in RViz2</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/align_depth_color.html#example-of-depth-to-color-overlay">5.3.1.3. Example of Depth to Color Overlay</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. Configuration of depth NFOV and WFOV modes</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. Depth work mode switch</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. Disparity_search_offset</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#function-introduction">5.3.4.1. Function Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#parameter-introduction">5.3.4.2. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/disparity_search_offset.html#run-the-launch">5.3.4.3. Run the launch</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. Using interleave_ae with Gemini330 series cameras</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#parameter-introduction">5.3.5.1. Parameter Introduction</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#run-the-launch">5.3.5.2. Run the launch</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/predefined_presets.html">5.3.6. Predefined presets</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html">5.3.7. Net_camera</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#set-device-ip-utility">5.3.7.2. set_device_ip Utility</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/5_advanced_guide/configuration/net_camera.html#force-ip-function">5.3.7.3. Force IP Function</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark.html">6. Benchmark</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html">6.1. Introduction</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#common-benchmark-node">6.1.1. common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/introduction.html#service-benchmark-node">6.1.2. service benchmark node</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html">6.2. Benchmark Usage</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#using-common-benchmark-node">6.2.1. Using common benchmark node</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#using-service-benchmark-node">6.2.2. Using service benchmark node</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_usage.html#example-yaml-configuration">6.2.2.3. <strong>Example YAML configuration</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html">6.3. Benchmark Data</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#common-benckmark-data">6.3.1. Common Benckmark Data</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/benchmark_data.html#service-benchmark-data">6.3.2. Service Benchmark Data</a></li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html">6.4. Other Tools</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#ob-benchmark-tool">6.4.1. Ob_benchmark tool</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#tool-configuration-start-benchmark-params-json">6.4.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#camera-configuration-launch-files">6.4.1.2. Camera configuration (launch files)</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#running-the-ob-benchmark-tool">6.4.1.3. Running the ob_benchmark tool</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/6_benchmark/othertools.html#output-data-files">6.4.1.4. Output Data Files</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/7_developer_guide/developer_guide.html">7. Developer Guide</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html">7.1. Migrating from main to Open-Source v2-main</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#introduction">7.1.1. Introduction</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#advantages-of-migrating-from-main-to-v2-main">7.1.2. Advantages of Migrating from main to v2-main</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#comprehensive-device-support">7.1.2.1. <strong>Comprehensive Device Support</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#transparency-and-extensibility">7.1.2.2. <strong>Transparency and Extensibility</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#advantages-in-maintenance-and-updates">7.1.2.3. Advantages in Maintenance and Updates</a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#community-and-ecosystem-support">7.1.2.4. <strong>Community and Ecosystem Support</strong></a></li>
+</ul>
+</li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#comparison-between-main-and-v2-main-branches">7.1.3. Comparison Between main and v2-main Branches</a><ul>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#launch-file-differences">7.1.3.1. <strong>Launch File Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#parameter-differences">7.1.3.2. <strong>Parameter Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#topic-differences">7.1.3.3. <strong>Topic Differences</strong></a></li>
+<li class="toctree-l5"><a class="reference internal" href="../camera_devices/7_developer_guide/migration_guide.html#service-differences">7.1.3.4. <strong>Service Differences</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html">7.2. Building a Debian Package</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#preparing-the-environment">7.2.1. Preparing the Environment</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#configuring-ros-dependencies">7.2.2. Configuring ROS Dependencies</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../camera_devices/7_developer_guide/building_a_Debian_Package.html#building-the-package">7.2.3. Building the Package</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html">8. Frequently Asked Questions</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#unexpected-crash">8.1. Unexpected Crash</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">8.2. No Data Stream from Multiple Cameras</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#additional-troubleshooting">8.3. Additional Troubleshooting</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#why-are-there-so-many-launch-files">8.4. Why Are There So Many Launch Files?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#how-to-launch-a-specific-camera-when-multiple-cameras-are-connected">8.5. How to Launch a Specific Camera When Multiple Cameras Are Connected</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#why-is-it-necessary-to-add-delays-when-starting-multiple-cameras-or-switching-streams">8.6. Why Is It Necessary to Add Delays When Starting Multiple Cameras or Switching Streams?</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../camera_devices/8_FAQ/FAQ.html#femto-bolt-depth-stream-no-data">8.7. femto bolt depth stream no data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l1 current"><a class="reference internal" href="index.html">1. Lidar Devices</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">1.1. Installation</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#prerequisites">1.1.1. Prerequisites</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#install-deb-dependencies">1.1.2. Install deb Dependencies</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#install-udev-rules">1.1.3. Install udev Rules</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#build-the-package">1.1.4. Build the Package</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#launch-the-lidar-node">1.1.5. Launch the LiDAR Node</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#usage">1.2. Usage</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#running-the-driver">1.2.1. Running the Driver</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#get-device-information-for-connected-lidars">1.2.2. Get Device Information for Connected LiDARs</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#check-which-configurations-the-lidar-supports">1.2.3. Check Which Configurations the LiDAR Supports</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#parameters-and-configuration">1.2.4. Parameters and Configuration</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#point-cloud-data-details">1.3. Point Cloud Data Details</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#point-cloud-format">1.3.1. Point Cloud Format</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#point-cloud-aggregation-functionality">1.3.2. Point Cloud Aggregation Functionality</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#features">1.3.2.1. Features:</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#usage-examples">1.3.2.2. Usage Examples:</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#imu-data">1.4. IMU Data</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#imu-topics">1.4.1. IMU Topics</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#using-imu-data">1.4.2. Using IMU Data</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="Mobile navigation menu" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../index.html">OrbbecSDK V2 ROS2 Wrapper</a>
+      </nav>
+
+      <div class="wy-nav-content">
+        <div class="rst-content">
+          <div role="navigation" aria-label="Page navigation">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+          <li class="breadcrumb-item"><a href="index.html"><span class="section-number">1. </span>Lidar Devices</a></li>
+      <li class="breadcrumb-item active"><span class="section-number">1.1. </span>Installation</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/source/lidar_devices/lidar.md.txt" rel="nofollow"> View page source</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><p>This ROS2 driver supports your use of Orbbec single-line/multi-line LiDAR. This document provides installation instructions## 4. IMU Data</p>
+<section id="installation">
+<h1><span class="section-number">1.1. </span>Installation<a class="headerlink" href="#installation" title="Link to this heading"></a></h1>
+<section id="prerequisites">
+<h2><span class="section-number">1.1.1. </span>Prerequisites<a class="headerlink" href="#prerequisites" title="Link to this heading"></a></h2>
+<p>Before using the OrbbecSDK ROS2 LiDAR driver, please ensure that the following dependencies are installed on your system:</p>
+<ul class="simple">
+<li><p><strong>ROS2</strong>: A valid installation of ROS2 (Humble, Jazzy, or other supported distributions).</p>
+<ul>
+<li><p>If you need help, please refer to the <a class="reference external" href="https://docs.ros.org/en/foxy/Installation.html">ROS2 Installation Guide</a>.</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="install-deb-dependencies">
+<h2><span class="section-number">1.1.2. </span>Install deb Dependencies<a class="headerlink" href="#install-deb-dependencies" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># assume you have sourced ROS environment, same blow</span>
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w">  </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev
+</pre></div>
+</div>
+</section>
+<section id="install-udev-rules">
+<h2><span class="section-number">1.1.3. </span>Install udev Rules<a class="headerlink" href="#install-udev-rules" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w">  </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
+sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
+</pre></div>
+</div>
+</section>
+<section id="build-the-package">
+<h2><span class="section-number">1.1.4. </span>Build the Package<a class="headerlink" href="#build-the-package" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
+<span class="c1"># Build release version, default is Debug</span>
+colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w">  </span>console_direct+<span class="w">  </span>--cmake-args<span class="w">  </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
+</pre></div>
+</div>
+</section>
+<section id="launch-the-lidar-node">
+<h2><span class="section-number">1.1.5. </span>Launch the LiDAR Node<a class="headerlink" href="#launch-the-lidar-node" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>First terminal</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>Second terminal</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
+rviz2
+</pre></div>
+</div>
+<ol class="simple">
+<li><p>Open Rviz2.</p></li>
+<li><p>Add a <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> or <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code> display.</p></li>
+<li><p>For <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>, select the <code class="docutils literal notranslate"><span class="pre">/lidar/cloud/points</span></code> topic; for <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>, select the <code class="docutils literal notranslate"><span class="pre">/lidar/scan/points</span></code> topic.</p></li>
+<li><p>Set the <code class="docutils literal notranslate"><span class="pre">Fixed</span> <span class="pre">Frame</span></code> to <code class="docutils literal notranslate"><span class="pre">lidar_lidar_frame</span></code> to properly align the data.</p></li>
+</ol>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> visualization example:</p></li>
+</ul>
+<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar0.jpg" /></p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code> visualization example:</p></li>
+</ul>
+<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar1.png" /></p>
+</section>
+</section>
+<section id="usage">
+<h1><span class="section-number">1.2. </span>Usage<a class="headerlink" href="#usage" title="Link to this heading"></a></h1>
+<section id="running-the-driver">
+<h2><span class="section-number">1.2.1. </span>Running the Driver<a class="headerlink" href="#running-the-driver" title="Link to this heading"></a></h2>
+<p>To start the driver, launch the provided ROS2 launch file:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
+<span class="c1"># Launch the driver with point cloud data</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT
+<span class="c1"># Launch the driver with sphere point cloud data</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT
+<span class="c1"># Launch the driver with laser scan data</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SCAN
+<span class="c1"># Launch the driver with IMU enabled</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
+<span class="c1"># Launch the driver with both point cloud and IMU data</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>100hz
+</pre></div>
+</div>
+<p>This command will start the node that interfaces with the Orbbec LiDAR device. Please ensure that the LiDAR hardware is properly connected before running this command.</p>
+</section>
+<section id="get-device-information-for-connected-lidars">
+<h2><span class="section-number">1.2.2. </span>Get Device Information for Connected LiDARs<a class="headerlink" href="#get-device-information-for-connected-lidars" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+<p>This command will list the connected LiDAR devices and display their respective IP addresses and ports. You can use this information to configure the driver to connect to specific devices.</p>
+</section>
+<section id="check-which-configurations-the-lidar-supports">
+<h2><span class="section-number">1.2.3. </span>Check Which Configurations the LiDAR Supports<a class="headerlink" href="#check-which-configurations-the-lidar-supports" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
+</pre></div>
+</div>
+</section>
+<section id="parameters-and-configuration">
+<h2><span class="section-number">1.2.4. </span>Parameters and Configuration<a class="headerlink" href="#parameters-and-configuration" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">lidar.launch.py</span></code> file contains default parameters for the driver. You can customize these settings by modifying the launch file or creating a custom configuration file. Key parameters include:</p>
+<ul class="simple">
+<li><p><strong>device_type</strong>: The type of device to launch. Optional values: <code class="docutils literal notranslate"><span class="pre">lidar</span></code>, <code class="docutils literal notranslate"><span class="pre">camera</span></code>. Setting this parameter to <code class="docutils literal notranslate"><span class="pre">lidar</span></code> launches the LiDAR device, setting it to <code class="docutils literal notranslate"><span class="pre">camera</span></code> launches the camera device.</p></li>
+<li><p><strong>camera_name</strong>: Launch node namespace.</p></li>
+<li><p><strong>device_num</strong>: Number of devices. This must be filled if you need to launch multiple devices.</p></li>
+<li><p><strong>upgrade_firmware</strong>: Firmware upgrade function. The input parameter is the firmware path.</p></li>
+<li><p><strong>connection_delay</strong>: Delay time (in milliseconds) for reopening the device. Immediately reopening the device during hot-plugging may cause firmware crashes.</p></li>
+<li><p><strong>publish_tf</strong>: Enable TF publishing.</p></li>
+<li><p><strong>tf_publish_rate</strong>: TF publishing frequency.</p></li>
+<li><p><strong>lidar_format</strong>: Data format for the LiDAR. Optional values: <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code>, <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code>, <code class="docutils literal notranslate"><span class="pre">LIDAR_SCAN</span></code></p></li>
+<li><p><strong>lidar_rate</strong>: Scan rate of the LiDAR.</p></li>
+<li><p><strong>publish_n_pkts</strong>: Number of frames to accumulate before publishing merged point cloud. Range: 1-12000. Only effective when lidar_format is <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> or <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code>, used to merge specified number of frames before publishing. Default value: <code class="docutils literal notranslate"><span class="pre">1</span></code></p></li>
+<li><p><strong>enable_scan_to_point</strong>: Enable conversion of scan data to point cloud data, publishing PointCloud2 data type topics.</p></li>
+<li><p><strong>repetitive_scan_mode</strong>: Repetitive scan mode parameter.</p></li>
+<li><p><strong>filter_level</strong>: Add filter level parameter.</p></li>
+<li><p><strong>vertical_fov</strong>: Vertical angle parameter.</p></li>
+<li><p><strong>min_angle</strong>: Minimum angle of the LiDAR scan range in degrees (e.g., <code class="docutils literal notranslate"><span class="pre">-135.0</span></code>). Default value: <code class="docutils literal notranslate"><span class="pre">-135.0</span></code>.</p></li>
+<li><p><strong>max_angle</strong>: Maximum angle of the LiDAR scan range in degrees (e.g., <code class="docutils literal notranslate"><span class="pre">135.0</span></code>). Default value: <code class="docutils literal notranslate"><span class="pre">135.0</span></code>.</p></li>
+<li><p><strong>min_range</strong>: Minimum distance the LiDAR can measure in meters. Default value: <code class="docutils literal notranslate"><span class="pre">0.05</span></code>.</p></li>
+<li><p><strong>max_range</strong>: Maximum distance the LiDAR can measure in meters. Default value: <code class="docutils literal notranslate"><span class="pre">30.0</span></code>.</p></li>
+<li><p><strong>echo_mode</strong>: Echo mode of the LiDAR. Optional values: <code class="docutils literal notranslate"><span class="pre">Last</span> <span class="pre">Echo</span></code>, <code class="docutils literal notranslate"><span class="pre">First</span> <span class="pre">Echo</span></code></p></li>
+<li><p><strong>point_cloud_qos</strong>: ROS 2 message Quality of Service (QoS) settings. Possible values include <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>, <code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, and are case-insensitive. These values correspond to <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code> respectively.</p></li>
+<li><p><strong>enumerate_net_device</strong>: Enable automatic enumeration of network devices.</p></li>
+<li><p><strong>net_device_ip</strong>: IP address of the network device.</p></li>
+<li><p><strong>net_device_port</strong>: Port number on the network side.</p></li>
+<li><p><strong>log_level</strong>: SDK log level, default value is <code class="docutils literal notranslate"><span class="pre">none</span></code>, optional values are <code class="docutils literal notranslate"><span class="pre">debug</span></code>, <code class="docutils literal notranslate"><span class="pre">info</span></code>, <code class="docutils literal notranslate"><span class="pre">warn</span></code>, <code class="docutils literal notranslate"><span class="pre">error</span></code>, <code class="docutils literal notranslate"><span class="pre">fatal</span></code></p></li>
+<li><p><strong>time_domain</strong>: Timestamp type of the device. Optional values are <code class="docutils literal notranslate"><span class="pre">device</span></code>, <code class="docutils literal notranslate"><span class="pre">global</span></code>, <code class="docutils literal notranslate"><span class="pre">system</span></code></p></li>
+<li><p><strong>config_file_path</strong>: Path to the YAML configuration file. Default value is “”. If no configuration file is specified, default parameters from the launch file will be used.</p></li>
+<li><p><strong>enable_heartbeat</strong>: Enable heartbeat function, default is <code class="docutils literal notranslate"><span class="pre">false</span></code>. If set to <code class="docutils literal notranslate"><span class="pre">true</span></code>, the camera node will send heartbeat signals to the firmware; this should also be set to <code class="docutils literal notranslate"><span class="pre">true</span></code> if hardware logging is required.</p></li>
+<li><p><strong>enable_imu</strong>: Enable IMU (accelerometer + gyroscope) and output unified IMU topic data.</p></li>
+<li><p><strong>imu_rate</strong>: Unified frequency of the IMU (both accelerometer and gyroscope).</p></li>
+<li><p><strong>accel_range</strong>: Range of the accelerometer.</p></li>
+<li><p><strong>gyro_range</strong>: Range of the gyroscope.</p></li>
+<li><p><strong>linear_accel_cov</strong>: Linear acceleration covariance value, default is <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>.</p></li>
+<li><p><strong>angular_vel_cov</strong>: Angular velocity covariance value, default is <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>.</p></li>
+</ul>
+</section>
+</section>
+<section id="point-cloud-data-details">
+<h1><span class="section-number">1.3. </span>Point Cloud Data Details<a class="headerlink" href="#point-cloud-data-details" title="Link to this heading"></a></h1>
+<section id="point-cloud-format">
+<h2><span class="section-number">1.3.1. </span>Point Cloud Format<a class="headerlink" href="#point-cloud-format" title="Link to this heading"></a></h2>
+<p>PointCloud2 (PointXYZITO) point cloud format is as follows:</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">float32</span> <span class="n">x</span>               <span class="c1"># X axis, unit: meters</span>
+<span class="n">float32</span> <span class="n">y</span>               <span class="c1"># Y axis, unit: meters</span>
+<span class="n">float32</span> <span class="n">z</span>               <span class="c1"># Z axis, unit: meters</span>
+<span class="n">uint8</span>   <span class="n">intensity</span>       <span class="c1"># LiDAR intensity</span>
+<span class="n">uint8</span>   <span class="n">tag</span>             <span class="c1"># LiDAR tag</span>
+<span class="n">uint32</span>  <span class="n">offset_time</span>     <span class="c1"># Point cloud offset relative to topic time, unit nanoseconds</span>
+</pre></div>
+</div>
+</section>
+<section id="point-cloud-aggregation-functionality">
+<h2><span class="section-number">1.3.2. </span>Point Cloud Aggregation Functionality<a class="headerlink" href="#point-cloud-aggregation-functionality" title="Link to this heading"></a></h2>
+<p>The <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> parameter enables point cloud aggregation functionality, which allows the LiDAR to accumulate a specified number of frames before publishing, then merge these frames into a larger point cloud data package for publishing.</p>
+<section id="features">
+<h3><span class="section-number">1.3.2.1. </span>Features:<a class="headerlink" href="#features" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p><strong>Parameter Range</strong>: 1-12000 frames</p></li>
+<li><p><strong>Applicable Formats</strong>: Only effective when lidar format is <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> or <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code></p></li>
+<li><p><strong>Default Value</strong>: 1 (no aggregation, each frame published individually)</p></li>
+<li><p><strong>Purpose</strong>: Improve point cloud density, suitable for applications requiring denser point cloud data</p></li>
+</ul>
+</section>
+<section id="usage-examples">
+<h3><span class="section-number">1.3.2.2. </span>Usage Examples:<a class="headerlink" href="#usage-examples" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Aggregate 10 frames before publishing</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">10</span>
+
+<span class="c1"># Aggregate 100 frames before publishing</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">100</span>
+</pre></div>
+</div>
+<p><strong>Note</strong>: Increasing the <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> value will improve point cloud density but will also increase latency and memory usage. Please adjust according to actual application requirements.</p>
+</section>
+</section>
+</section>
+<section id="imu-data">
+<h1><span class="section-number">1.4. </span>IMU Data<a class="headerlink" href="#imu-data" title="Link to this heading"></a></h1>
+<section id="imu-topics">
+<h2><span class="section-number">1.4.1. </span>IMU Topics<a class="headerlink" href="#imu-topics" title="Link to this heading"></a></h2>
+<p>When IMU is enabled, the following topics will be published:</p>
+<ul class="simple">
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/imu/sample</span></code></strong>: Unified IMU topic containing synchronized accelerometer and gyroscope data in <code class="docutils literal notranslate"><span class="pre">sensor_msgs/Imu</span></code> format.</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/lidar_to_imu</span></code></strong>: Transform from LiDAR frame to IMU frame.</p></li>
+</ul>
+</section>
+<section id="using-imu-data">
+<h2><span class="section-number">1.4.2. </span>Using IMU Data<a class="headerlink" href="#using-imu-data" title="Link to this heading"></a></h2>
+<p>To enable IMU data collection:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># Launch with IMU enabled</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
+
+<span class="c1"># Check IMU topics</span>
+ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>imu
+
+<span class="c1"># View IMU data</span>
+ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/lidar/imu/sample
+</pre></div>
+</div>
+<p>The IMU data includes:</p>
+<ul class="simple">
+<li><p><strong>linear_acceleration</strong>: 3D acceleration data (x, y, z) in m/s²</p></li>
+<li><p><strong>angular_velocity</strong>: 3D angular velocity data (x, y, z) in rad/s</p></li>
+<li><p><strong>orientation</strong>: Quaternion orientation (not provided by hardware, set to zero)</p></li>
+</ul>
+</section>
+</section>
+
+
+           </div>
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+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
+      <span class="lastupdated">Last updated on 2026-01-04 01:12:32.
+      </span></p>
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diff --git a/zh/.buildinfo b/zh/.buildinfo
index 225f07b0..a6320210 100644
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diff --git a/zh/.doctrees/source/1_overview/introduction.doctree b/zh/.doctrees/source/camera_devices/1_overview/introduction.doctree
similarity index 99%
rename from zh/.doctrees/source/1_overview/introduction.doctree
rename to zh/.doctrees/source/camera_devices/1_overview/introduction.doctree
index 403427acfe869f4db85fe805da3f37c28d7aaffb..cfaf9b1b564e0b5bd5b65615a3964462d6659641 100644
GIT binary patch
delta 39
vcmbR8h;i{FMwSNFsS*=e4l`y<JYmn5oS2(hlo+3qT9%odTD+N!k*@#%FslxJ

delta 24
gcmZ4dh;hmzMwSNFshks84l_nhJYm0CjFGnh0CwvLwg3PC

diff --git a/zh/.doctrees/source/1_overview/orbbecsdk_overview.doctree b/zh/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree
similarity index 92%
rename from zh/.doctrees/source/1_overview/orbbecsdk_overview.doctree
rename to zh/.doctrees/source/camera_devices/1_overview/orbbecsdk_overview.doctree
index a16a366fdc3c230c074143e88a2e36216e95354e..c6e2923addb136381b24a26494539cd1c7024e90 100644
GIT binary patch
delta 123
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delta 63
zcmeBL$aro6BTED8ROg8-HyPt6-m~AV!)PPJu2h^~T9ll+xlZ=ED!Ve2Q|<hl87|Y~
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diff --git a/zh/.doctrees/source/1_overview/overview.doctree b/zh/.doctrees/source/camera_devices/1_overview/overview.doctree
similarity index 73%
rename from zh/.doctrees/source/1_overview/overview.doctree
rename to zh/.doctrees/source/camera_devices/1_overview/overview.doctree
index b435cc56d06f035fb293ceda36847fbce5551ddf..84ced45096de208efde3c25e62f58066d2d0c949 100644
GIT binary patch
delta 125
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delta 77
zcmew_aae+-fpx0IMix0n#<0oCjP{!g8K*O{OBLsr7A2=nE?^W9pVGsgnpaYknOZz0
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diff --git a/zh/.doctrees/source/2_installation/build_the_package.doctree b/zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree
similarity index 58%
rename from zh/.doctrees/source/2_installation/build_the_package.doctree
rename to zh/.doctrees/source/camera_devices/2_installation/build_the_package.doctree
index 28b324aaf9a2324d41d0844556a9f3bc5685c50c..8a84ed5815a69fa1acd759e1075bf5c75c9e302c 100644
GIT binary patch
delta 404
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delta 835
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diff --git a/zh/.doctrees/source/2_installation/installation.doctree b/zh/.doctrees/source/camera_devices/2_installation/installation.doctree
similarity index 71%
rename from zh/.doctrees/source/2_installation/installation.doctree
rename to zh/.doctrees/source/camera_devices/2_installation/installation.doctree
index 68836aed6eb8e31f289ca40c84965d5ca04cff94..8e157715e0fccac6d45764e33e57b15658e86b8c 100644
GIT binary patch
delta 125
zcmZ1|c~_F9fpzMojVyAEjJcDQ8SVL!6LV9G65~@+%QBNwi#I1SK426xEY2@2N>0^B
fm7AQ%C^I>QSwPGTyL2_PnwSMvsm&{xe{ui-&dx1c

delta 77
zcmcaBxlod&fpzM%jVyAEjB%5d8SOV0GTvuoS1QggElN(ET)-$JKBb2}HLs*7Gqre1
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diff --git a/zh/.doctrees/source/2_installation/registration_script.doctree b/zh/.doctrees/source/camera_devices/2_installation/registration_script.doctree
similarity index 95%
rename from zh/.doctrees/source/2_installation/registration_script.doctree
rename to zh/.doctrees/source/camera_devices/2_installation/registration_script.doctree
index 2f04f421705bae9ad254a81043952646d4ad1cbf..744b193ae363f6df1e12cf10c922a757cf8a4b6b 100644
GIT binary patch
delta 37
tcmX@1dR>*JfpzMci7d|<izmLZ=Sxn^O)W}{Pf0DyOinG{ti?D_5C9}#4#ofg

delta 22
ecmcbvdP0?@fpzNMi7d|<QzpK#-)zM=R}cVeR0#e6

diff --git a/zh/.doctrees/source/3_quickstarts/orbbecviewer.doctree b/zh/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
similarity index 81%
rename from zh/.doctrees/source/3_quickstarts/orbbecviewer.doctree
rename to zh/.doctrees/source/camera_devices/3_quickstarts/orbbecviewer.doctree
index 18565c2570735ff878877216e417a8f299d8c42b..0201e44bb2296a5e11e6fa0a83dc2975c124d3fd 100644
GIT binary patch
delta 174
zcmX>bJ|lv)fpsdc&P3K1jM)?4+4ChQ=B5@U#;2r~WhSQ<Z`NV_%O<8<oL^d$oT`s1
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delta 79
zcmbOcaW<T_fpzL3?TM@}7-J^Bv)^pP_=k;Mt~kH6C^>brAIEZLIER}@3eK6F%P+Y(
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diff --git a/zh/.doctrees/source/3_quickstarts/quickstart.doctree b/zh/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree
similarity index 98%
rename from zh/.doctrees/source/3_quickstarts/quickstart.doctree
rename to zh/.doctrees/source/camera_devices/3_quickstarts/quickstart.doctree
index faac7ea9968b509d9dc46caa469c78bd697454bb..a86173fe6f7195d95681714249fb3733656762a6 100644
GIT binary patch
delta 37
tcmX?^dLxykfpzNHi7a;+GbcW>=Sxn^O)W}{Pf0DyOinG{tiZU^5CAiS4@>|6

delta 22
ecmcbSdNP%zfpzM>i7a;+qb5GG-)z9R!Vmy-j0uDQ

diff --git a/zh/.doctrees/source/3_quickstarts/quickstarts.doctree b/zh/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree
similarity index 72%
rename from zh/.doctrees/source/3_quickstarts/quickstarts.doctree
rename to zh/.doctrees/source/camera_devices/3_quickstarts/quickstarts.doctree
index afefd1dff69f36f1fdbc2c5aede402c231ce1f69..bd3db8c2bfe9af74b5c5e96eb114f15fbcd59258 100644
GIT binary patch
delta 129
zcmaDXF<+9UfpzMXjVxM>jM<a*8SVL!6LV9G65~@+%QBNwi#O*oE@BkZFU~J5N>0^B
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delta 70
zcmbO)`B;Lbfpu!cMiwnb#+b?ajP{#r85c6LD-`FK7A2=nu3?m#?8hv?E)VBR@=R%)
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diff --git a/zh/.doctrees/source/4_application_guide/application_guide.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree
similarity index 66%
rename from zh/.doctrees/source/4_application_guide/application_guide.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/application_guide.doctree
index c9d3f008f9c1c3d576b826178e536554f88eaf77..ad7f580825b7c208f42f104175ba8b7e761e35b0 100644
GIT binary patch
delta 257
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delta 146
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diff --git a/zh/.doctrees/source/4_application_guide/compressed_image.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree
similarity index 94%
rename from zh/.doctrees/source/4_application_guide/compressed_image.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/compressed_image.doctree
index d1e23fbb74100cf56da4c24f61a85260f4e92d69..29375c6f8fc6523342dfba0cf6a6fb2378910806 100644
GIT binary patch
delta 37
tcmbOwvr>kofpx0fM3(c6r4z5%^Cc(drWPf}r=*r;CZ`r}7GmV!1pxb149Wli

delta 22
ecmZ1}GfRf0fpseXM3(c6X%ny5Z&qSt=LG;&t_K1D

diff --git a/zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree
similarity index 84%
rename from zh/.doctrees/source/4_application_guide/coordinate_and_tf.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/coordinate_and_tf.doctree
index 085bfab74b5aff1aea1cbe5c7161a591b5306688..672ff8d3e5bf4e283d1518092edb8bdb6af424fd 100644
GIT binary patch
delta 231
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delta 122
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diff --git a/zh/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/launch_parameters.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..eb796b2a084fc5c7d1512fe2e680bc502138337d
GIT binary patch
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diff --git a/zh/.doctrees/source/4_application_guide/point_cloud.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree
similarity index 89%
rename from zh/.doctrees/source/4_application_guide/point_cloud.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/point_cloud.doctree
index f968c6ad085ec112c73fcc6520b14474cb2d0e40..68b9a05cd8dac147b7d3eb778e62adf2a5778926 100644
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diff --git a/zh/.doctrees/source/4_application_guide/services.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/services.doctree
similarity index 94%
rename from zh/.doctrees/source/4_application_guide/services.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/services.doctree
index 302c6b988f349cb662c17fba4e87cd55d3fce892..302fbad359b15dfe1c3779c2242461f8de766fb9 100644
GIT binary patch
delta 843
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delta 107
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diff --git a/zh/.doctrees/source/4_application_guide/topics.doctree b/zh/.doctrees/source/camera_devices/4_application_guide/topics.doctree
similarity index 99%
rename from zh/.doctrees/source/4_application_guide/topics.doctree
rename to zh/.doctrees/source/camera_devices/4_application_guide/topics.doctree
index 76d8331aa4ac8977df8c2af58c3954b27c079a12..b2b7f0024a4894e7c2bd68d2891a28022dcb0a92 100644
GIT binary patch
delta 39
vcmX@Hg7NwaMwSNFsXh}~&NF6DykgInoS2(hlo+3qT9%odTD)0^(JUAMI4lm>

delta 24
gcmcb<g7L%(MwSNFskReY&NIeLykfsuiP1C|0D6B35C8xG

diff --git a/zh/.doctrees/source/5_advanced_guide/advanced_guide.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree
similarity index 54%
rename from zh/.doctrees/source/5_advanced_guide/advanced_guide.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/advanced_guide.doctree
index 6f7506ba6a5935da39ad2ea0b93acf7c693171be..8e54a9ddd5b56100ac10e232ab13e3c450942666 100644
GIT binary patch
delta 497
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delta 261
zcmaE>@mGztfpuz;@J3cmM#iMc`i%CQYZ--^*wu>jON)|IC)Y44Og_dez-|oXzhO3F
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diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree
similarity index 88%
rename from zh/.doctrees/source/5_advanced_guide/configuration/align_depth_color.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/align_depth_color.doctree
index 9ab0430d3b0fdba8a471f883fbd0f72c49a9fbf6..64c9ce7e47c9b77b29c01cebefb3a712bed4765d 100644
GIT binary patch
delta 97
zcmexux5A#KfpzNKi7dYv8z(W^^Cc(drWPf}r=*r;CZ`r}wqs-x6tgJKFD*(=)kl?^
T94jWbIaTN*GY<L9KzU98<y0eo

delta 52
zcmZ2s|J#nGfpu!ZM3&!-MUxoqH~TR%3bJb!=a&{Gr%vt?liS=Z^pP1Ruo)=82>|ab
B5+MKp

diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
similarity index 93%
rename from zh/.doctrees/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.doctree
index 113fc1c21860523be6a3e9125bd8488b5165a778..8ce343b9b1b9620b910717860648c2c05074ec38 100644
GIT binary patch
delta 37
tcmdn4a!iG#fpx0&M3$e7vnKwt=Sxn^O)W}{Pf0DyOinG{Y{U3l000*54$1%k

delta 22
ecmX@6vR#Fxfpx0RM3$e7-4p-WZ}wsQB>(_q7zqLZ

diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree
similarity index 95%
rename from zh/.doctrees/source/5_advanced_guide/configuration/depth_work_mode_switch.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.doctree
index 30001b84bc2635b4b72b8b450682b1199610ca29..eb1a3bc29fa589ae1267364e874fb340bd4c2479 100644
GIT binary patch
delta 37
tcmZ3lzfYf~fpzNUi7d|<+a|uT=Sxn^O)W}{Pf0DyOinG{ti{+W1^^z~4vqi-

delta 22
ecmdm|zh0lEfpzMVi7d|<%O}3E-)zO$A_f3w>IlXF

diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree
similarity index 97%
rename from zh/.doctrees/source/5_advanced_guide/configuration/disparity_search_offset.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.doctree
index 8a384f5ef22e7c3dadec1d4e3663806f32876199..550916f79d1d016c8a747e5eeeb1a5d0476726a5 100644
GIT binary patch
delta 69
zcmdm9e6^URfpzMsi7dAn+b2G-=Sxn^O)W}{Pf0DyOinG{EXP>OC+1e1Us{x$s*fr+
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delta 35
rcmcawyuFyEfpzMdi7dAnD<(d$->k=2!^du3oL^d$oVxh{zo-@f4BQRU

diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree
similarity index 96%
rename from zh/.doctrees/source/5_advanced_guide/configuration/interleave_ae_mode.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.doctree
index 20c7babfb4608585ab449cee4cf7e8dc4b554b19..a9a77b219aac9478ab833065f795029d9b0d865f 100644
GIT binary patch
delta 101
zcmZ26oAK&wMwSNFsi!uwh%+)aO_pJ_=Sxn^O)W}{Pf0DyOinG{9L4BmBj!|`Us{x$
Xs*fhO+BTUHhuq|Bd%exh_NjaTG}<J>

delta 64
zcmcaQn{mZ#MwSNFsdG27h%+)4PnKb{-<-whX~S+@oL^d$oI2UiPH*#fTT@0P0rkoI
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diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
similarity index 99%
rename from zh/.doctrees/source/5_advanced_guide/configuration/net_camera.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/net_camera.doctree
index 9c5ecb01ca6ae25182e68120d8bd28f75a312afd..f7a9612e2f73139bdc847ce5df1023403891d072 100644
GIT binary patch
delta 39
vcmexzn6dc?BTED8)E^UB&NEg`ykgInoS2(hlo+3qT9%odTD)0^@lgT*Q7;f%

delta 24
gcmZoZ!uaJdBTED8)Rz-k&NF6DykfsuiSc0q0ERCLlK=n!

diff --git a/zh/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
similarity index 95%
rename from zh/.doctrees/source/5_advanced_guide/configuration/predefined_presets.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/configuration/predefined_presets.doctree
index 4af9835e4371d4d68f175779a4b53a72a7faa3fa..75887673515ca02e720ca8fbfcac170a60261488 100644
GIT binary patch
delta 37
tcmZ3hy+@m+fpzM}i7Zzcn<n0}=Sxn^O)W}{Pf0DyOinG{EWtQc1OOQh4paaD

delta 22
ecmdm^y;hs0fpzMli7ZzciznW)->ktnMFaq4NC=Do

diff --git a/zh/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree
similarity index 98%
rename from zh/.doctrees/source/5_advanced_guide/multi_camera/gmsl_camera.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.doctree
index 56f1350e80c92d4a7ad816bf890a79d55df408cf..93838cbd54ad46115803d632c731a8161fa4fa3a 100644
GIT binary patch
delta 40
wcmZqdVw}*$$lAa<mDP13>lwzXiI?p8k`r@NixT5gQp+-vQ;RnXFn)9f03d4)!2kdN

delta 25
hcmbQx#n{-z$lAa<^_$B?)-#OR6EE3sR$%<#3;=xL3HSg2

diff --git a/zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree
similarity index 98%
rename from zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.doctree
index dd292a1235b5fdbbf07138c0dddb7d3c498a2fbb..1edccfef3ad99041ba8c27639337bfe827035287 100644
GIT binary patch
delta 37
tcmeyB+L^}Ez&iEcM3$3`)f3Oz^Cc(drWPf}r=*r;CZ`r}=3#ti2mmvr4|@Or

delta 22
ecmeB7`<2Slz&iE)M3$3`ITO#>Z<b+vYX|^y%?Yyr

diff --git a/zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree
similarity index 96%
rename from zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.doctree
index 16ddc3d2cd45a7291fe70cf92c61dd4f1d64bca1..db27ed23825bc5f17c5d80a2d9d8af379e5fb152 100644
GIT binary patch
delta 97
zcmZp!-B8QYz&ds5M3#q)O%tEl^Cc(drWPf}r=*r;CZ`r}R$-jXCgxF`Us{x$s*fhO
SkG%w!+~j@idYjYvWDEdRw<Smb

delta 52
zcmdl`+g!`iz&f>JBFjU@;)&1fH=8g{Vq>=~&Mz%WPThQmy#&sge1~0c^AtWA0{|mD
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diff --git a/zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
similarity index 98%
rename from zh/.doctrees/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.doctree
index 54d23fee89ed1f25e5f93544d81c124420a54e4c..f6a1cdb1e13c7bdfc7df4a639c9d566f36d72a2d 100644
GIT binary patch
delta 39
vcmZ3om~r!BMwSNFsVgS3yk(p+@smAYa$;_3QDS^bYFTD-YVl?R#*zR4K?o0^

delta 24
gcmdnIm~qKsMwSNFsWT_Cyk%^i_{n~=17mRj0DRgB*Z=?k

diff --git a/zh/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree
similarity index 96%
rename from zh/.doctrees/source/5_advanced_guide/performance/efficient_intra_process_communication.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.doctree
index 965247f3e9080e25e0adabe90d4dead752a83bb1..ce8061a96ed613c1392e5f9307a5103c93e1c8ba 100644
GIT binary patch
delta 37
tcmaE7^Vf!@fpu!pM3%RVlP7+%=Sxn^O)W}{Pf0DyOinG{Y`|zI3ji*x4#WTe

delta 22
ecmexs^Uj8)fpu!~M3%RVEfYW4Z+2j`l?4ECEC~Dn

diff --git a/zh/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree
similarity index 98%
rename from zh/.doctrees/source/5_advanced_guide/performance/fastdds_tuning.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.doctree
index c92a816e9586c1d8d5d4ce6b11a8278ede20801c..b2f827b696c4f66abeb947bf46ba664d9f0649a1 100644
GIT binary patch
delta 41
xcmZ2Cm2vM>MwSNFshc*ka5FO2Ocr3Y=Sxn^O)W}{Pf0DyOinG{?8lhk2>>J#4ebB`

delta 26
icmdlxm2urvMwSNFsf#zVa5FOIP8MLa-yFvn?+E~TVF)Dv

diff --git a/zh/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree b/zh/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree
similarity index 99%
rename from zh/.doctrees/source/5_advanced_guide/performance/lower_cpu_usage.doctree
rename to zh/.doctrees/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.doctree
index e4d89d16b2e7e4ea0b50b2b6510be2139ebf8435..99bc9e1c03aeddd8ddab69d5f8d103bc74caa102 100644
GIT binary patch
delta 41
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delta 26
icmbQWm$7><BTED8)P{{LjEszVli3*UH-|8~#R33!$Oq~G

diff --git a/zh/.doctrees/source/6_benchmark/benchmark.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
similarity index 70%
rename from zh/.doctrees/source/6_benchmark/benchmark.doctree
rename to zh/.doctrees/source/camera_devices/6_benchmark/benchmark.doctree
index c59203e5cd3321bb59f72d38cb04e0175f74ff27..c48f1189c57547796ff56849c1edb8b2e7c4792b 100644
GIT binary patch
delta 195
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CLPaY8

delta 94
zcmbOswNH|@fpzL;o{g-gjEoVJtr_hn+cS%9p2yh5$SzZyUs{x$I@yj{ja?qfu40yB
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diff --git a/zh/.doctrees/source/6_benchmark/benchmark_data.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
similarity index 96%
rename from zh/.doctrees/source/6_benchmark/benchmark_data.doctree
rename to zh/.doctrees/source/camera_devices/6_benchmark/benchmark_data.doctree
index 08863d9583e0817badc924964afd42f777313671..aa997cba3a74f2b0a8f6445b98cd95a60678f148 100644
GIT binary patch
delta 37
tcmeyT*Q?Lcz&f>QBFl5e?1^ve`H~ZJQ;QPgQ&P(^lT(W~YcYn10RS5J4lV!y

delta 22
ecmeCx|EI^&z&f>fBFl5en2B%fH(N0Viva*-$_Qov

diff --git a/zh/.doctrees/source/6_benchmark/benchmark_usage.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree
similarity index 98%
rename from zh/.doctrees/source/6_benchmark/benchmark_usage.doctree
rename to zh/.doctrees/source/camera_devices/6_benchmark/benchmark_usage.doctree
index d7083ac75463bd1f893cddf86053af1614c13789..b71307e2bc4706fc126c1d35f67671ed0aef7961 100644
GIT binary patch
delta 37
tcmeyA+nC4Fz&iEYM3(1_ITPR5^Cc(drWPf}r=*r;CZ`r})?z$i3II1051ar1

delta 22
ecmZq7`;^Plz&iE$M3(1_u@m3eZ?<AQZVCW(5((4*

diff --git a/zh/.doctrees/source/6_benchmark/introduction.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/introduction.doctree
similarity index 85%
rename from zh/.doctrees/source/6_benchmark/introduction.doctree
rename to zh/.doctrees/source/camera_devices/6_benchmark/introduction.doctree
index 117aa8db9fb83d60d0d30632d1475c5f8a8a95d2..a6b103605da447857d772cc590e2d614d9bb2099 100644
GIT binary patch
delta 137
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delta 69
zcmZ4M{n3l1fpu!yM3%#hQ4>$tZx&;m%+GFKoL^d$oH}`;kk01U0+x(O0!Ev2gycEd
NjUg&FFO=rt0sw#e7-#?h

diff --git a/zh/.doctrees/source/6_benchmark/othertools.doctree b/zh/.doctrees/source/camera_devices/6_benchmark/othertools.doctree
similarity index 98%
rename from zh/.doctrees/source/6_benchmark/othertools.doctree
rename to zh/.doctrees/source/camera_devices/6_benchmark/othertools.doctree
index 93b0cd49ff295efc7c2ebfb31dd06e34af2f54cd..93bec705940c49bd2ff602589f94660e771ca71d 100644
GIT binary patch
delta 37
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delta 21
dcmZ3KG&zZ-fpsd!M3(c65fiW2FIHkS0037O2X_Df

diff --git a/zh/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree b/zh/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree
similarity index 96%
rename from zh/.doctrees/source/7_developer_guide/building_a_Debian_Package.doctree
rename to zh/.doctrees/source/camera_devices/7_developer_guide/building_a_Debian_Package.doctree
index ea905b623e81fc839fcd41c31e74e0fde906f35d..7e6384fa48e93a6eb6e2e8754775912f1300f216 100644
GIT binary patch
delta 37
tcmeA-nrFn)z&cfUBFj_8nu)LM`H~ZJQ;QPgQ&P(^lT(W~YcM_+2LJ>44hH}L

delta 22
ecmbPd)NjPnz&e#>BFj_8+=;L3H(M}169)iVp$I<!

diff --git a/zh/.doctrees/source/7_developer_guide/developer_guide.doctree b/zh/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree
similarity index 73%
rename from zh/.doctrees/source/7_developer_guide/developer_guide.doctree
rename to zh/.doctrees/source/camera_devices/7_developer_guide/developer_guide.doctree
index b2498d5d940d50785c45e9359a8de07467cf4ee0..f529c891b185c7ca5e0e4064374abafeae058b2a 100644
GIT binary patch
delta 137
zcmca5F-?-Cfpu#4Miv7`#^TAQjP`uViMgpoiSa3^WtqvT#gi48g(v@J;@>=#(T7pY
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delta 65
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diff --git a/zh/.doctrees/source/7_developer_guide/migration_guide.doctree b/zh/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree
similarity index 99%
rename from zh/.doctrees/source/7_developer_guide/migration_guide.doctree
rename to zh/.doctrees/source/camera_devices/7_developer_guide/migration_guide.doctree
index 027516d3d13af1d58b854f20a05ea5b156eafaf2..de87040a3fc25b19f49c565659e3d73cd00c5693 100644
GIT binary patch
delta 41
xcmX@~i0R@ZCYA=)scsut1Q{8NCW|rJ^Cc(drWPf}r=*r;CZ`r}4q<$^9so9Q4?zF`

delta 26
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diff --git a/zh/.doctrees/source/8_FAQ/FAQ.doctree b/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree
similarity index 82%
rename from zh/.doctrees/source/8_FAQ/FAQ.doctree
rename to zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree
index ba7a24355244b3c53c4eab28fa3cc628dd582411..2f737d0f5c28a474eb95424d116f7ecf8ed45496 100644
GIT binary patch
delta 1222
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delta 226
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diff --git a/zh/.doctrees/source/camera_devices/index.doctree b/zh/.doctrees/source/camera_devices/index.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..dafec6a66ea7f081775568126db2653429cbef0f
GIT binary patch
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diff --git a/zh/.doctrees/source/lidar_devices/index.doctree b/zh/.doctrees/source/lidar_devices/index.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..32fd60ef0a99ececf44a726a4f9cd24717146095
GIT binary patch
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diff --git a/zh/.doctrees/source/lidar_devices/lidar.doctree b/zh/.doctrees/source/lidar_devices/lidar.doctree
new file mode 100644
index 0000000000000000000000000000000000000000..b7f8fe5428b102fd4327b12ba42050324dcc4bc1
GIT binary patch
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A=l}o!

diff --git a/zh/_sources/source/1_overview/introduction.md.txt b/zh/_sources/source/camera_devices/1_overview/introduction.md.txt
similarity index 100%
rename from zh/_sources/source/1_overview/introduction.md.txt
rename to zh/_sources/source/camera_devices/1_overview/introduction.md.txt
diff --git a/zh/_sources/source/1_overview/orbbecsdk_overview.md.txt b/zh/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt
similarity index 100%
rename from zh/_sources/source/1_overview/orbbecsdk_overview.md.txt
rename to zh/_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt
diff --git a/zh/_sources/source/1_overview/overview.rst.txt b/zh/_sources/source/camera_devices/1_overview/overview.rst.txt
similarity index 100%
rename from zh/_sources/source/1_overview/overview.rst.txt
rename to zh/_sources/source/camera_devices/1_overview/overview.rst.txt
diff --git a/zh/_sources/source/2_installation/build_the_package.md.txt b/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt
similarity index 95%
rename from zh/_sources/source/2_installation/build_the_package.md.txt
rename to zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt
index a2adf04e..2ad4b94f 100644
--- a/zh/_sources/source/2_installation/build_the_package.md.txt
+++ b/zh/_sources/source/camera_devices/2_installation/build_the_package.md.txt
@@ -23,8 +23,6 @@ eval "$(register-python-argcomplete3 colcon)"
 
 ### 二进制安装
 
-#### Linux 二进制包安装
-
 查看软件包：
 
 ```bash
@@ -44,8 +42,6 @@ sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
 
 ### 从源码构建
 
-#### Linux ROS2 包装器编译
-
 创建 `colcon` 工作空间：
 
 ```bash
diff --git a/zh/_sources/source/2_installation/installation.rst.txt b/zh/_sources/source/camera_devices/2_installation/installation.rst.txt
similarity index 100%
rename from zh/_sources/source/2_installation/installation.rst.txt
rename to zh/_sources/source/camera_devices/2_installation/installation.rst.txt
diff --git a/zh/_sources/source/2_installation/registration_script.md.txt b/zh/_sources/source/camera_devices/2_installation/registration_script.md.txt
similarity index 100%
rename from zh/_sources/source/2_installation/registration_script.md.txt
rename to zh/_sources/source/camera_devices/2_installation/registration_script.md.txt
diff --git a/zh/_sources/source/3_quickstarts/orbbecviewer.md.txt b/zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
similarity index 100%
rename from zh/_sources/source/3_quickstarts/orbbecviewer.md.txt
rename to zh/_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt
diff --git a/zh/_sources/source/3_quickstarts/quickstart.md.txt b/zh/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt
similarity index 100%
rename from zh/_sources/source/3_quickstarts/quickstart.md.txt
rename to zh/_sources/source/camera_devices/3_quickstarts/quickstart.md.txt
diff --git a/zh/_sources/source/3_quickstarts/quickstarts.rst.txt b/zh/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt
similarity index 100%
rename from zh/_sources/source/3_quickstarts/quickstarts.rst.txt
rename to zh/_sources/source/camera_devices/3_quickstarts/quickstarts.rst.txt
diff --git a/zh/_sources/source/4_application_guide/application_guide.rst.txt b/zh/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt
similarity index 100%
rename from zh/_sources/source/4_application_guide/application_guide.rst.txt
rename to zh/_sources/source/camera_devices/4_application_guide/application_guide.rst.txt
diff --git a/zh/_sources/source/4_application_guide/compressed_image.md.txt b/zh/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt
similarity index 100%
rename from zh/_sources/source/4_application_guide/compressed_image.md.txt
rename to zh/_sources/source/camera_devices/4_application_guide/compressed_image.md.txt
diff --git a/zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt b/zh/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt
similarity index 100%
rename from zh/_sources/source/4_application_guide/coordinate_and_tf.md.txt
rename to zh/_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt
diff --git a/zh/_sources/source/4_application_guide/launch_parameters.md.txt b/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
similarity index 95%
rename from zh/_sources/source/4_application_guide/launch_parameters.md.txt
rename to zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
index 749e1c7c..716cd824 100644
--- a/zh/_sources/source/4_application_guide/launch_parameters.md.txt
+++ b/zh/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
@@ -41,6 +41,10 @@
     *   启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
 *   **`right_ir.image_raw.enable_pub_plugins`**
     *   启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。
+*   **`point_cloud_decimation_filter_factor`**
+    *   点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样越强。
+*   **`preset_resolution_config`**
+    * 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。
 
 ### 传感器控制
 
@@ -176,7 +180,7 @@
   *   `COLOR`：将深度对齐到彩色。
   *   `DEPTH`：将彩色对齐到深度。
 - **`intra_camera_sync_reference`**
-  - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。**默认值：** `Middle`
+  - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。
 
 ### 基础与通用参数
 
@@ -219,6 +223,8 @@
 #### 日志与诊断
 *   **`log_level`**
     *   SDK日志级别。默认为 `info`。可选值：`debug`、`info`、`warn`、`error`、`fatal`。
+*   **`log_file_name`**
+    *   保存的SDK日志文件名。当`log_level`为`debug`时生效。
 *   **`diagnostic_period`**
     *   诊断周期（秒）。
 *   **`enable_heartbeat`**
diff --git a/zh/_sources/source/4_application_guide/point_cloud.md.txt b/zh/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt
similarity index 100%
rename from zh/_sources/source/4_application_guide/point_cloud.md.txt
rename to zh/_sources/source/camera_devices/4_application_guide/point_cloud.md.txt
diff --git a/zh/_sources/source/4_application_guide/services.md.txt b/zh/_sources/source/camera_devices/4_application_guide/services.md.txt
similarity index 96%
rename from zh/_sources/source/4_application_guide/services.md.txt
rename to zh/_sources/source/camera_devices/4_application_guide/services.md.txt
index b6dc4781..79409388 100644
--- a/zh/_sources/source/4_application_guide/services.md.txt
+++ b/zh/_sources/source/camera_devices/4_application_guide/services.md.txt
@@ -256,3 +256,13 @@
                     -6.804073229432106e-06]}'
     ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
     ```
+
+### 点云下采样
+*   `/camera/set_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
+    ```
+*   `/camera/get_point_cloud_decimation`
+    ```bash
+    ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
diff --git a/zh/_sources/source/4_application_guide/topics.md.txt b/zh/_sources/source/camera_devices/4_application_guide/topics.md.txt
similarity index 100%
rename from zh/_sources/source/4_application_guide/topics.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/advanced_guide.rst.txt b/zh/_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/advanced_guide.rst.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/configuration/align_depth_color.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/depth_work_mode_switch.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/disparity_search_offset.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/interleave_ae_mode.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/net_camera.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/configuration/predefined_presets.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/configuration/predefined_presets.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/multi_camera/gmsl_camera.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/multi_camera/multi_camera.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.md.txt
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rename from zh/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/performance/efficient_intra_process_communication.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.md.txt
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rename from zh/_sources/source/5_advanced_guide/performance/fastdds_tuning.md.txt
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diff --git a/zh/_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt b/zh/_sources/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.md.txt
similarity index 100%
rename from zh/_sources/source/5_advanced_guide/performance/lower_cpu_usage.md.txt
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diff --git a/zh/_sources/source/6_benchmark/benchmark.rst.txt b/zh/_sources/source/camera_devices/6_benchmark/benchmark.rst.txt
similarity index 100%
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diff --git a/zh/_sources/source/6_benchmark/benchmark_data.md.txt b/zh/_sources/source/camera_devices/6_benchmark/benchmark_data.md.txt
similarity index 100%
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diff --git a/zh/_sources/source/6_benchmark/benchmark_usage.md.txt b/zh/_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt
similarity index 100%
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diff --git a/zh/_sources/source/6_benchmark/introduction.md.txt b/zh/_sources/source/camera_devices/6_benchmark/introduction.md.txt
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diff --git a/zh/_sources/source/6_benchmark/othertools.md.txt b/zh/_sources/source/camera_devices/6_benchmark/othertools.md.txt
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rename from zh/_sources/source/6_benchmark/othertools.md.txt
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diff --git a/zh/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt b/zh/_sources/source/camera_devices/7_developer_guide/building_a_Debian_Package.md.txt
similarity index 100%
rename from zh/_sources/source/7_developer_guide/building_a_Debian_Package.md.txt
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diff --git a/zh/_sources/source/7_developer_guide/developer_guide.rst.txt b/zh/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt
similarity index 100%
rename from zh/_sources/source/7_developer_guide/developer_guide.rst.txt
rename to zh/_sources/source/camera_devices/7_developer_guide/developer_guide.rst.txt
diff --git a/zh/_sources/source/7_developer_guide/migration_guide.md.txt b/zh/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt
similarity index 100%
rename from zh/_sources/source/7_developer_guide/migration_guide.md.txt
rename to zh/_sources/source/camera_devices/7_developer_guide/migration_guide.md.txt
diff --git a/zh/_sources/source/8_FAQ/FAQ.md.txt b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
similarity index 87%
rename from zh/_sources/source/8_FAQ/FAQ.md.txt
rename to zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
index 6c352895..7910d593 100644
--- a/zh/_sources/source/8_FAQ/FAQ.md.txt
+++ b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt
@@ -40,11 +40,13 @@
 如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。
 
 可以先通过以下命令查看设备序列号：
+
 ```bash
 ros2 run orbbec_camera list_devices_node
 ```
 
 然后在启动时显式指定序列号，例如：
+
 ```bash
 ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J
 ```
@@ -62,3 +64,16 @@ ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J
   在调用开关流相关服务（如 `set_streams_enable`、`toggle_depth`、`toggle_color`）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 **20 ms**），以保证流状态切换的可靠性。
 
 遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。
+### femto bolt 深度流无数据
+
+该模组运行时依赖 OpenGL 库，若系统未安装或驱动不完整，将导致深度流无数据。请先安装 OpenGL 相关库（以 Ubuntu 为例）：
+
+```bash
+  sudo apt update && sudo apt install -y mesa-utils libgl1-mesa-glx libglu1-mesa
+```
+
+  安装后可通过以下命令检查 OpenGL 是否可用：
+
+```bash
+  glxinfo -B
+```
diff --git a/zh/_sources/source/camera_devices/index.rst.txt b/zh/_sources/source/camera_devices/index.rst.txt
new file mode 100644
index 00000000..b3e14b09
--- /dev/null
+++ b/zh/_sources/source/camera_devices/index.rst.txt
@@ -0,0 +1,16 @@
+Camera Devices
+=======================================
+
+.. toctree::
+    :maxdepth: 3
+    :numbered:
+
+    source/1_overview/overview.rst
+    source/2_installation/installation.rst
+    source/3_quickstarts/quickstarts.rst
+    source/4_application_guide/application_guide.rst
+    source/5_advanced_guide/advanced_guide.rst
+    source/6_benchmark/benchmark.rst
+    source/7_developer_guide/developer_guide.rst
+    source/8_FAQ/FAQ.rst
+
diff --git a/zh/_sources/source/lidar_devices/index.rst.txt b/zh/_sources/source/lidar_devices/index.rst.txt
new file mode 100644
index 00000000..e5877489
--- /dev/null
+++ b/zh/_sources/source/lidar_devices/index.rst.txt
@@ -0,0 +1,8 @@
+Lidar Devices
+=======================================
+
+.. toctree::
+    :maxdepth: 1
+    :numbered:
+
+    lidar.md
diff --git a/zh/_sources/source/lidar_devices/lidar.md.txt b/zh/_sources/source/lidar_devices/lidar.md.txt
new file mode 100644
index 00000000..312fec6f
--- /dev/null
+++ b/zh/_sources/source/lidar_devices/lidar.md.txt
@@ -0,0 +1,208 @@
+本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息，帮助您快速开始使用此驱动。
+
+## 安装
+
+### 先决条件
+
+在使用OrbbecSDK ROS2 LiDAR驱动程序之前，请确保您的系统上安装了以下依赖项：
+
+- **ROS2**：Humble、Jazzy 或其他受支持的发行版。
+  - 如果您需要帮助，请参阅[ROS2安装指南](https://docs.ros.org/en/foxy/Installation.html)。
+
+### 安装deb依赖项
+
+```bash
+# 假设您已经配置了ROS环境，下同
+sudo apt install libgflags-dev nlohmann-json3-dev  \
+ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
+ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
+ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
+ros-$ROS_DISTRO-backward-ros libdw-dev
+```
+
+### 安装udev规则
+
+```bash
+cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo bash install_udev_rules.sh
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+### 构建包
+
+```bash
+cd ~/ros2_ws/
+# 构建发布版本，默认为调试版本
+colcon build --event-handlers  console_direct+  --cmake-args  -DCMAKE_BUILD_TYPE=Release
+```
+
+### 启动激光雷达节点
+
+* 第一个终端
+
+```bash
+. ./install/setup.bash
+ros2 launch orbbec_camera lidar.launch.py
+```
+
+* 第二个终端
+
+```bash
+. ./install/setup.bash
+rviz2
+```
+
+1. 打开Rviz2。
+2. 添加 `PointCloud2`或 `LaserScan`显示。
+3. 对于 `PointCloud2`，选择 `/lidar/cloud/points`话题；对于 `LaserScan`，选择 `/lidar/scan/points`话题。
+4. 将 `Fixed Frame`设置为 `lidar_lidar_frame`以正确对齐数据。
+
+* `PointCloud2`可视化示例：
+
+![rviz2中的模块](./docs/images/lidar0.jpg)
+
+* `LaserScan`可视化示例：
+
+![rviz2中的模块](./docs/images/lidar1.png)
+
+## 使用方法
+
+### 运行驱动
+
+要启动驱动，请启动提供的ROS2启动文件：
+
+```bash
+source install/setup.bash
+# 启动带有点云数据的驱动
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT
+# 启动带有球面点云数据的驱动
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT
+# 启动带有激光扫描数据的驱动
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SCAN
+# 启动启用IMU的驱动
+ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
+# 启动同时包含点云和IMU数据的驱动
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT enable_imu:=true imu_rate:=100hz
+```
+
+此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。
+
+### 获取已连接激光雷达的设备信息
+
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。
+
+### 检查激光雷达支持的配置
+
+```bash
+ros2 run orbbec_camera list_camera_profile_mode_node
+```
+
+### 2.4 参数和配置
+
+`lidar.launch.py`文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括：
+
+- **device_type**: 要启动的设备类型。可选值：`lidar`、`camera`。将此参数设置为 `lidar`启动激光雷达设备，设置为 `camera`启动摄像头设备。
+- **camera_name**: 启动节点命名空间。
+- **device_num**: 设备数量。如果需要启动多个设备，则必须填写此项。
+- **upgrade_firmware**: 固件升级功能。输入参数是固件路径。
+- **connection_delay**: 重新打开设备的延迟时间（毫秒）。在热插拔期间立即重新打开设备可能导致固件崩溃。
+- **publish_tf**: 启用TF发布。
+- **tf_publish_rate**: TF发布频率。
+- **lidar_format**: 激光雷达的数据格式。可选值：`LIDAR_POINT`、`LIDAR_SPHERE_POINT`、`LIDAR_SCAN`
+- **lidar_rate**: 激光雷达的扫描频率。
+- **publish_n_pkts**: 多帧数据合并发布的帧数量。范围：1-12000。仅在激光雷达格式为 `LIDAR_POINT` 或 `LIDAR_SPHERE_POINT` 时生效，用于累积指定数量的帧后再发布合并的点云数据。默认值：`1`
+- **enable_scan_to_point**: 启用扫描数据到点云数据的转换，发布PointCloud2数据类型话题。
+- **repetitive_scan_mode**: 重复扫描模式参数。
+- **filter_level**: 添加过滤级别参数。
+- **vertical_fov**: 垂直角度参数。
+- **min_angle**: 激光雷达扫描范围的最小角度（度）（例如，`-135.0`）。默认值：`-135.0`
+- **max_angle**: 激光雷达扫描范围的最大角度（度）（例如，`135.0`）。默认值：`135.0`
+- **min_range**: 激光雷达可测量的最小距离（米）。默认值：`0.05`
+- **max_range**: 激光雷达可测量的最大距离（米）。默认值：`30.0`
+- **echo_mode**: 激光雷达的回波模式。可选值：`Last Echo`、`First Echo`
+- **point_cloud_qos**: ROS 2消息服务质量（QoS）设置。可能的值包括 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`和 `SENSOR_DATA`，不区分大小写。这些值分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters`和 `SENSOR_DATA`。
+- **enumerate_net_device**: 启用网络设备的自动枚举。
+- **net_device_ip**: 网络设备的IP地址。
+- **net_device_port**: 网络端的端口号。
+- **log_level**: SDK日志级别，默认值为 `none`，可选值为 `debug`、`info`、`warn`、`error`、`fatal`
+- **time_domain**: 设备的时间戳类型。可选值为 `device`、`global`、`system`
+- **config_file_path**: YAML配置文件的路径。默认值为""。如果未指定配置文件，将使用启动文件中的默认参数。
+- **enable_heartbeat**: 启用心跳功能，默认为 `false`。如果设置为 `true`，相机节点将向固件发送心跳信号；如果需要硬件日志记录，也应将其设置为 `true`。
+- **enable_imu**: 启用IMU（加速度计+陀螺仪）并输出统一的IMU话题数据。
+- **imu_rate**: IMU的统一频率（加速度计和陀螺仪）。
+- **accel_range**: 加速度计的量程。
+- **gyro_range**: 陀螺仪的量程。
+- **linear_accel_cov**: 线性加速度协方差值，默认为 `0.0001`。
+- **angular_vel_cov**: 角速度协方差值，默认为 `0.0001`。
+
+## 点云数据详细说明
+
+### 点云格式
+
+PointCloud2 (PointXYZITO) 点云格式如下：
+
+```
+float32 x               # X轴，单位：米
+float32 y               # Y轴，单位：米
+float32 z               # Z轴，单位：米
+uint8   intensity       # 激光雷达强度
+uint8   tag             # 激光雷达标签
+uint32  offset_time     # 点云相对话题时间的偏移量，单位纳秒
+```
+
+### 点云聚合功能
+
+通过 `publish_n_pkts` 参数可以开启点云聚合功能，该功能允许激光雷达在发布数据前累积指定数量的帧，然后将这些帧合并为一个更大的点云数据包进行发布。
+
+#### 功能特点：
+
+- **参数范围**: 1-12000 帧
+- **适用格式**: 仅在激光雷达格式为 `LIDAR_POINT` 或 `LIDAR_SPHERE_POINT` 时有效
+- **默认值**: 1（即不聚合，每帧单独发布）
+- **用途**: 提高点云密度，适用于需要更密集点云数据的应用场景
+
+#### 使用示例：
+
+```bash
+# 聚合10帧数据后发布
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_POINT publish_n_pkts:=10
+
+# 聚合100帧数据后发布
+ros2 launch orbbec_camera lidar.launch.py lidar_format:=LIDAR_SPHERE_POINT publish_n_pkts:=100
+```
+
+**注意**: 增加 `publish_n_pkts` 值会提高点云密度，但同时会增加延迟和内存使用量，请根据实际应用需求进行调整。
+
+## IMU数据
+
+### IMU话题
+
+启用IMU时，将发布以下话题：
+
+- **`/lidar/imu/sample`**: 统一的IMU话题，包含 `sensor_msgs/Imu`格式的同步加速度计和陀螺仪数据。
+- **`/lidar/lidar_to_imu`**: 从激光雷达坐标系到IMU坐标系的变换。
+
+### 使用IMU数据
+
+要启用IMU数据采集：
+
+```bash
+# 启动并启用IMU
+ros2 launch orbbec_camera lidar.launch.py enable_imu:=true imu_rate:=50hz
+
+# 检查IMU话题
+ros2 topic list | grep imu
+
+# 查看IMU数据
+ros2 topic echo /lidar/imu/sample
+```
+
+IMU数据包括：
+
+- **linear_acceleration**: 3D加速度数据（x、y、z），单位：m/s²
+- **angular_velocity**: 3D角速度数据（x、y、z），单位：rad/s
+- **orientation**: 四元数方向（硬件不提供，设置为零）
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-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
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-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbecsdk-v2-ros2">
 <h1>OrbbecSDK V2 ROS2 封装文档<a class="headerlink" href="#orbbecsdk-v2-ros2" title="Link to this heading"></a></h1>
 <div class="toctree-wrapper compound">
-<ul>
-<li class="toctree-l1"><a class="reference internal" href="source/1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
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-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="source/4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id2">4.2.1. 数据流控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="source/8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-</li>
-</ul>
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diff --git a/zh/objects.inv b/zh/objects.inv
index 45abe2bda316bfe247a4d85112a1e7e5c6e7e3cb..3f617b86ce05559d4efc3801b43c984a236708d5 100644
GIT binary patch
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
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-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="source/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="source/7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="source/8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
-</ul>
-
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+              <div class="local-toc"></div>
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@@ -398,7 +91,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年12月15日 11:57:25.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
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-          <a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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-      <li class="breadcrumb-item active"><span class="section-number">1.1. </span>引言</li>
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-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">1.1. </span>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。</p>
-<p>默认推荐使用 <strong>v2-main</strong> 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 <strong>main</strong> 分支。仅由 main 分支支持的设备型号列在下表中。</p>
-<p>如果您是中国用户，推荐使用 <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee 仓库</a>。</p>
-<p>下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表：</p>
-<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
-  <thead>
-    <tr style="background-color: #1f4e78; color: white; text-align: center;">
-      <th>产品系列</th>
-      <th>产品</th>
-      <th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">main 分支</a></th>
-      <th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">v2-main 分支</a></th>
-    </tr>
-  </thead>
-  <tbody>
-      <tr>
-      <td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
-      <td>Gemini 435Le</td>
-      <td>not supported</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
-      <td>Gemini 335Le</td>
-      <td>not supported</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 335</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 336</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 330</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 335L</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 336L</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 330L</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 335Lg</td>
-      <td>not supported</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td rowspan="5" style="text-align: center; font-weight: bold;">Gemini 2</td>
-      <td>Gemini 2</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 2 L</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 2 XL</td>
-      <td>recommended for new designs</td>
-      <td>to be supported</td>
-    </tr>
-    <tr>
-      <td>Gemini 215</td>
-      <td>not supported</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Gemini 210</td>
-      <td>not supported</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
-      <td>Femto Bolt</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Femto Mega</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Femto Mega I</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
-      <td>Astra 2</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-    <tr>
-      <td>Astra+</td>
-      <td>limited maintenance</td>
-      <td>not supported</td>
-    </tr>
-    <tr>
-      <td>Astra Pro Plus</td>
-      <td>limited maintenance</td>
-      <td>not supported</td>
-    </tr>
-    <tr>
-      <td style="text-align: center; font-weight: bold;">Astra Mini</td>
-      <td>Astra Mini (S) Pro</td>
-      <td>full maintenance</td>
-      <td>recommended for new designs</td>
-    </tr>
-  </tbody>
-</table><p><strong>注意</strong>: 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</p>
-<p><strong>术语定义</strong>:</p>
-<ol class="simple">
-<li><p>建议用于新设计：我们将提供完整支持，包括新特性、缺陷修复与性能优化；</p></li>
-<li><p>完整维护：我们将提供缺陷修复支持；</p></li>
-<li><p>限制维护：我们仅提供关键缺陷修复支持；</p></li>
-<li><p>不支持：当前版本不支持该设备；</p></li>
-<li><p>即将支持：近期将添加支持。</p></li>
-</ol>
-<section id="id2">
-<h2><span class="section-number">1.1.1. </span>支持的硬件产品<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备，请尝试 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> 分支。</p>
-<p>为获得最佳性能，强烈建议升级到最新固件版本，以确保获得最新的改进与缺陷修复。</p>
-<p>关于如何获取与升级最新固件，<a class="reference internal" href="../3_quickstarts/orbbecviewer.html"><span class="doc">请点击这里</span></a>。</p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>产品列表</strong></th>
-<th><strong>推荐固件版本</strong></th>
-<th><strong>启动文件</strong></th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>Astra Mini Pro</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro">2.0.03</a></td>
-<td>astra.launch.py</td>
-</tr>
-<tr>
-<td>Astra Mini S Pro</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro">2.0.03</a></td>
-<td>astra.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 435Le</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.2</a></td>
-<td>gemini435_le.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 330 series</td>
-<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td>
-<td>gemini_330_series.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 215</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">1.0.9</a></td>
-<td>gemini210.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 210</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">1.0.9</a></td>
-<td>gemini210.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 2</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">1.4.98</a></td>
-<td>gemini2.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 2 L</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">1.5.2</a></td>
-<td>gemini2L.launch.py</td>
-</tr>
-<tr>
-<td>Femto Bolt</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">1.1.2</a></td>
-<td>femto_bolt.launch.py</td>
-</tr>
-<tr>
-<td>Femto Mega</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">1.3.1</a></td>
-<td>femto_mega.launch.py</td>
-</tr>
-<tr>
-<td>Femto Mega I</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">2.0.4</a></td>
-<td>femto_mega.launch.py</td>
-</tr>
-<tr>
-<td>Astra 2</td>
-<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
-<td>astra2.launch.py</td>
-</tr>
-</tbody>
-</table><p>所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。</p>
-</section>
-<section id="orbbec">
-<h2><span class="section-number">1.1.2. </span>Orbbec 相机规格书<a class="headerlink" href="#orbbec" title="Link to this heading"></a></h2>
-<p>更多信息请参考相机规格书。</p>
-<style>
-table {
-  border-collapse: collapse;
-  width: 100%;
-}
-th, td {
-  border: 1px solid #ccc;
-  padding: 8px;
-  text-align: left;
-  vertical-align: middle;
-}
-thead th {
-  background-color: #1f4e78;
-  color: white;
-  text-align: center;
-  vertical-align: middle;
-}
-</style><table>
-  <thead>
-    <tr>
-      <th>产品系列</th>
-      <th>产品</th>
-      <th>规格书</th>
-    </tr>
-  </thead>
-  <tbody>
-    <tr>
-      <td style="text-align: center;">Gemini 435Le</td>
-      <td>Gemini 435Le</td>
-      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le 规格书</a></td>
-    </tr>
-    <tr>
-      <td style="text-align: center;" rowspan="6">Gemini 330</td>
-      <td>Gemini 335</td>
-      <td rowspan="4"><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 系列 USB 设备规格书</a></td>
-    </tr>
-    <tr><td>Gemini 336</td></tr>
-    <tr><td>Gemini 335L</td></tr>
-    <tr><td>Gemini 336L</td></tr>
-    <tr>
-      <td>Gemini 335Lg</td>
-      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 系列 GMSL 设备规格书</a></td>
-    </tr>
-    <tr>
-      <td>Gemini 335Le</td>
-      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 系列 以太网设备规格书</a></td>
-    </tr>
-    <tr>
-      <td style="text-align: center;" rowspan="3">Gemini 2</td>
-      <td>Gemini 2</td>
-      <td rowspan="2"><a href="https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf">Orbbec Gemini 2 系列规格书</a></td>
-    </tr>
-    <tr><td>Gemini 2 L</td></tr>
-    <tr>
-      <td>Gemini 2 XL</td>
-      <td><a href="https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS">Orbbec Gemini 2 XL 规格书</a></td>
-    </tr>
-    <tr>
-      <td style="text-align: center;" rowspan="3">Femto</td>
-      <td>Femto Bolt</td>
-      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf">Orbbec Femto Bolt 规格书</a></td>
-    </tr>
-    <tr>
-      <td>Femto Mega</td>
-      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf">Orbbec Femto Mega 规格书</a></td>
-    </tr>
-    <tr>
-      <td>Femto Mega I</td>
-      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf">Orbbec Femto Mega I 规格书</a></td>
-    </tr>
-    <tr>
-      <td style="text-align: center;" rowspan="3">Astra</td>
-      <td>Astra 2</td>
-      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf">Orbbec Astra 2 规格书</a></td>
-    </tr>
-    <tr>
-      <td>Astra+</td>
-      <td><a href="https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff">Orbbec Astra+ 规格书</a></td>
-    </tr>
-    <tr>
-      <td>Astra Mini Pro</td>
-      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro 规格书</a></td>
-    </tr>
-  </tbody>
-</table></section>
-<hr class="docutils" />
-<section id="id3">
-<h2><span class="section-number">1.1.3. </span>支持的平台<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Linux x64：已在 Ubuntu 22.04 上测试</p></li>
-<li><p>Linux ARM64：已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试</p></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#id3">1.1.3. 支持的平台</a></li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
-</li>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">1.2. </span>Orbbec SDK 概述<a class="headerlink" href="#orbbec-sdk" title="Link to this heading"></a></h1>
-<p>本节介绍 C++ 版本的 Orbbec SDK。其架构和概念与 Python 包装器一致。</p>
-<section id="id1">
-<h2><span class="section-number">1.2.1. </span>术语<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th>序号</th>
-<th>名称</th>
-<th>说明</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>1</td>
-<td>USB</td>
-<td>通用串行总线（Universal Serial Bus）</td>
-</tr>
-<tr>
-<td>2</td>
-<td>UVC</td>
-<td>USB 视频类（USB Video Class）</td>
-</tr>
-<tr>
-<td>3</td>
-<td>Firmware</td>
-<td>3D 相机的固件</td>
-</tr>
-<tr>
-<td>4</td>
-<td>Disparity</td>
-<td>视差是指从两个有一定距离的点观察同一目标时的方向差异。</td>
-</tr>
-<tr>
-<td>5</td>
-<td>D2D (Disparity to depth)</td>
-<td>视差转深度是一种图像处理技术，用于将视差信息转换为深度信息。</td>
-</tr>
-<tr>
-<td>6</td>
-<td>Hardware D2D</td>
-<td>视差转深度在设备内部实现，不占用主机的计算能力。</td>
-</tr>
-<tr>
-<td>7</td>
-<td>Software D2D</td>
-<td>视差转深度，在 Orbbec SDK 中实现</td>
-</tr>
-<tr>
-<td>8</td>
-<td>Depth point cloud</td>
-<td>深度点云，三维世界坐标系中点的坐标，可以使用深度相机的内参转换为点云。</td>
-</tr>
-<tr>
-<td>9</td>
-<td>RGBD point cloud</td>
-<td>叠加了 RGB 信息的点云</td>
-</tr>
-<tr>
-<td>10</td>
-<td>D2C</td>
-<td>"深度到彩色"（Depth to Color）是一种对深度图像进行逐像素几何变换的功能。其结果是通过 D2C 变换将深度图像与其对应的彩色图像对齐，使我们能够通过在变换后的深度图像中使用相同图像坐标位置来定位彩色像素的深度信息。经过 D2C 变换后，我们生成一个与目标彩色图像大小相同的深度图像，其中图像内容表示彩色相机坐标系中的深度数据。换句话说，它重建了一个使用彩色相机的原点和尺寸"拍摄"的深度图像，其中每个像素与彩色相机的相应像素坐标匹配。</td>
-</tr>
-<tr>
-<td>11</td>
-<td>Hardware D2C</td>
-<td>硬件 D2C 是指在相机内部执行深度到彩色变换的功能，相机直接输出 D2C 变换的结果。</td>
-</tr>
-<tr>
-<td>12</td>
-<td>Software D2C</td>
-<td>使用 SDK 在主机端执行 D2C 计算。</td>
-</tr>
-<tr>
-<td>13</td>
-<td>Frame aggregation (FrameSet)</td>
-<td>帧聚合，将深度、红外和彩色帧组合成一个帧集（Frameset），并通过管道调用。</td>
-</tr>
-<tr>
-<td>14</td>
-<td>C2D</td>
-<td>"彩色到深度"（Color to Depth）是一种对彩色图像进行逐像素几何变换的功能。其结果是通过 C2D 变换将彩色图像与其对应的深度图像对齐。</td>
-</tr>
-<tr>
-<td>15</td>
-<td>MetaData</td>
-<td>帧元数据是一组参数（或属性），提供了帧生成时传感器配置和/或系统状态的快照。</td>
-</tr>
-<tr>
-<td>16</td>
-<td>HDR</td>
-<td>高动态范围（High Dynamic Range，HDR）成像允许成像系统在极暗和极亮的场景中拍摄图像。我们提出了一种在主机 CPU 上运行的软件解决方案来实现此功能。它利用两个连续帧的数据，直接合成这两个深度图像，从而增强 16 位深度图像的动态范围。</td>
-</tr>
-<tr>
-<td>17</td>
-<td>LDP</td>
-<td>激光近距离保护（Laser close-range protection）</td>
-</tr>
-</tbody>
-</table></section>
-<section id="orbbec-sdk-v2">
-<h2><span class="section-number">1.2.2. </span>Orbbec SDK v2 架构概述<a class="headerlink" href="#orbbec-sdk-v2" title="Link to this heading"></a></h2>
-<p><img alt="OrbbecSDK v2 软件架构" src="../../_images/Soft_Architecture.png" /></p>
-<ul class="simple">
-<li><p>应用层（Application）</p></li>
-</ul>
-<p>OrbbecViewer、示例程序和用户应用程序实现。</p>
-<ul class="simple">
-<li><p>接口和封装层（Interfaces and Encapsulation Layer）</p></li>
-</ul>
-<p>OrbbecSDK 接口封装和包装器封装。</p>
-<ul class="simple">
-<li><p>高级层（High-level Layer）</p></li>
-</ul>
-<p>HighLevel 封装了核心业务组件，并使用管道（pipeline）向外部提供接口。</p>
-<ul class="simple">
-<li><p>基础业务层（Basic business layer）</p></li>
-</ul>
-<p>核心业务逻辑框架的实现。</p>
-<ul class="simple">
-<li><p>平台抽象层（Platform abstraction layer）</p></li>
-</ul>
-<p>跨平台组件抽象操作系统差异，提供统一的访问接口。</p>
-<ul class="simple">
-<li><p>平台实现层（Platform implementation layer）</p></li>
-</ul>
-<p>各平台的驱动实现。</p>
-</section>
-<section id="sdk">
-<h2><span class="section-number">1.2.3. </span>SDK 概念概述<a class="headerlink" href="#sdk" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>Context（上下文）</p></li>
-</ul>
-<p>上下文提供一组设置，包括设备状态更改回调、日志级别等设置。Context 可以访问多个设备。</p>
-<ul class="simple">
-<li><p>Device（设备）</p></li>
-</ul>
-<p>一个实际的硬件设备对应一个 Device 对象，用于获取设备的相关信息并控制其属性。</p>
-<ul class="simple">
-<li><p>Pipeline（管道）</p></li>
-</ul>
-<p>HighLevel 对应的对象，封装了快速访问 SDK 的接口。它具有简单的功能，使用户能够快速上手并使用 SDK。</p>
-<ul class="simple">
-<li><p>Config（配置）</p></li>
-</ul>
-<p>提供启用数据流、对齐模式和帧聚合模式的配置，用于控制数据输出的行为。</p>
-<ul class="simple">
-<li><p>StreamProfile（流配置）</p></li>
-</ul>
-<p>流配置定义分辨率、帧率和编码格式等参数，还提供相机参数的管理。</p>
-<ul class="simple">
-<li><p>Frame（帧）</p></li>
-</ul>
-<p>表示流中的一帧数据，还包含该帧数据的相关信息，如时间戳、类型等。</p>
-<ul class="simple">
-<li><p>Filter（滤镜）</p></li>
-</ul>
-<p>主要指用于复合流 FrameSet 的一些算法处理模块，如点云算法处理。</p>
-<ul class="simple">
-<li><p>Record（录制）</p></li>
-</ul>
-<p>录制功能，捕获数据流并将其保存为文件，以便后续分析或回放。</p>
-<ul class="simple">
-<li><p>Playback（回放）</p></li>
-</ul>
-<p>回放功能，播放录制的文件，并支持控制回放速度和其他相关参数。</p>
-</section>
-<section id="id2">
-<h2><span class="section-number">1.2.4. </span>SDK 编程模型<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>以下是 C++ 编程逻辑流程图。Python 的编程逻辑与之相同。</p>
-<ul class="simple">
-<li><p>标准流程图：</p></li>
-</ul>
-<p><img alt="image.png" src="../../_images/Standard_Flowchart.png" /></p>
-<p>标准流程图演示了如何从设备列表创建设备、设置和获取参数，以及应用后处理滤镜。</p>
-<ul class="simple">
-<li><p>使用默认配置的流程图（基于 OrbbecSDKConfig.xml 中的默认设置获取流）：</p></li>
-</ul>
-<p><img alt="image" src="../../_images/Default_Flowchart.png" /></p>
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-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
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-<h1><span class="section-number">2.1. </span>环境配置<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>根据官方指南安装 ROS 2：</p>
-<ul class="simple">
-<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 安装指南（Ubuntu）</a></p></li>
-</ul>
-<p>安装依赖项：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
-ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
-ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
-ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-xacro<span class="w"> </span><span class="se">\</span>
-ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev<span class="w"> </span>libssl-dev
-</pre></div>
-</div>
-<p>启用 ROS 2 自动补全：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>ros2<span class="k">)</span><span class="s2">&quot;</span>
-<span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>colcon<span class="k">)</span><span class="s2">&quot;</span>
-</pre></div>
-</div>
-</section>
-<section id="id2">
-<h1><span class="section-number">2.2. </span>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h1>
-<section id="linux">
-<h2><span class="section-number">2.2.1. </span>Linux 二进制包安装<a class="headerlink" href="#linux" title="Link to this heading"></a></h2>
-<p>查看软件包：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
-apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>orbbec
-</pre></div>
-</div>
-<p>安装 OrbbecSDK ROS2 包：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-orbbec-camera<span class="w"> </span>ros-humble-orbbec-description
-</pre></div>
-</div>
-<p>安装完成后，直接使用即可，无需编译。</p>
-</section>
-</section>
-<hr class="docutils" />
-<section id="id3">
-<h1><span class="section-number">2.3. </span>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h1>
-<section id="linux-ros2">
-<h2><span class="section-number">2.3.1. </span>Linux ROS2 包装器编译<a class="headerlink" href="#linux-ros2" title="Link to this heading"></a></h2>
-<p>创建 <code class="docutils literal notranslate"><span class="pre">colcon</span></code> 工作空间：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/ros2_ws/src
-</pre></div>
-</div>
-<p>克隆源代码并切换到 <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> 分支：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src
-git<span class="w"> </span>clone<span class="w"> </span>https://github.com/orbbec/OrbbecSDK_ROS2.git
-<span class="nb">cd</span><span class="w"> </span>OrbbecSDK_ROS2
-git<span class="w"> </span>checkout<span class="w"> </span>v2-main
-</pre></div>
-</div>
-<p>构建：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws
-colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
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-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
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-<h1><span class="section-number">2.4. </span>注册脚本（必需）<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。</p>
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-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
-sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
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-sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
-sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
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-<h1><span class="section-number">3.2. </span>OrbbecViewer 快速入门<a class="headerlink" href="#orbbecviewer" title="Link to this heading"></a></h1>
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-<div><p><strong>注意：</strong> 此 ROS 包的参数和功能与 <strong>Orbbec Viewer</strong> 保持一致；有关参数使用或设备型号支持的任何问题，请参考 Orbbec Viewer。</p>
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-<h2><span class="section-number">3.2.1. </span>下载<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p><strong>仓库链接：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecViewer 下载</a></p>
-<p>根据您的设备类型选择合适版本的 OrbbecViewer。</p>
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-<h2><span class="section-number">3.2.2. </span>连接设备<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>当 Orbbec Viewer 打开时，当前设备连接状态将显著地显示在应用程序窗口的左上角。此区域提供关于相机是否已连接并正常工作的即时反馈。</p>
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-<p>您可以使用窗口顶部的按钮快速查看图像，并在窗口左侧的相机面板中调整图像参数。</p>
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-<h2><span class="section-number">3.2.4. </span>设备信息和固件升级<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<p>点击窗口左下角的图标以查看当前相机信息并升级固件。</p>
-<p><img alt="orbbecviewer" src="../../_images/orbbecviewer4.png" /></p>
-<p>请参考下面的列表获取最新的相机固件。<a class="reference external" href="https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/">更多信息请点击这里。</a></p>
-<p><strong>仓库链接：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download">固件下载</a></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>产品列表</strong></th>
-<th><strong>下载链接</strong></th>
-<th>最新版本</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>Femto Bolt</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">Femto Bolt 固件</a></td>
-<td>v1.1.2</td>
-</tr>
-<tr>
-<td>Femto Mega</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">Femto Mega 固件</a></td>
-<td>v1.3.1</td>
-</tr>
-<tr>
-<td>Gemini 2</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">Gemini 2 固件</a></td>
-<td>v1.4.98</td>
-</tr>
-<tr>
-<td>Gemini 2 L</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">Gemini 2L 固件</a></td>
-<td>v1.5.02</td>
-</tr>
-<tr>
-<td>Femto Mega I</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">Femto Mega I 固件</a></td>
-<td>v2.0.4</td>
-</tr>
-<tr>
-<td>Gemini 330 系列</td>
-<td><a href="https://www.orbbec.com/docs/g330-firmware-release/?_gl=1">Gemini 330 系列固件</a></td>
-<td></td>
-</tr>
-<tr>
-<td>Gemini 215</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">Gemini 215</a></td>
-<td>v1.0.9</td>
-</tr>
-<tr>
-<td>Gemini 210</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">Gemini 210</a></td>
-<td>v1.0.9</td>
-</tr>
-<tr>
-<td>Gemini 435Le</td>
-<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">Gemini 435Le</a></td>
-<td>v1.3.2</td>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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-<h1><span class="section-number">3.1. </span>ROS 包快速入门<a class="headerlink" href="#ros" title="Link to this heading"></a></h1>
-<section id="id1">
-<h2><span class="section-number">3.1.1. </span>简介<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p>本节提供 Orbbec ROS 2 包装器的快速入门指南。
-您将学习如何：</p>
-<ul class="simple">
-<li><p>启动相机节点。</p></li>
-<li><p>在 <strong>RViz2</strong> 中可视化深度/彩色流。</p></li>
-<li><p>使用 <strong>ROS 2 CLI 工具</strong>与话题和服务交互。</p></li>
-</ul>
-</section>
-<hr class="docutils" />
-<section id="id2">
-<h2><span class="section-number">3.1.2. </span>构建您的第一个相机应用<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<section id="ros-2">
-<h3><span class="section-number">3.1.2.1. </span>步骤 1：配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h3>
-<p>确保已配置 ROS 2 和工作空间环境：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/setup.bash
-</pre></div>
-</div>
-<p>源码构建需要</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/ros2_ws/install/setup.bash
-</pre></div>
-</div>
-</section>
-<section id="id3">
-<h3><span class="section-number">3.1.2.2. </span>步骤 2：启动相机节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p>在终端 1 中</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
-ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node<span class="w"> </span><span class="c1">#检查相机是否已连接</span>
-ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="c1"># 或其他启动文件，见下表</span>
-</pre></div>
-</div>
-<p>如果您连接了多个相机，可以指定<strong>序列号</strong>：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>&lt;您的相机序列号&gt;
-</pre></div>
-</div>
-</section>
-<section id="rviz2">
-<h3><span class="section-number">3.1.2.3. </span>步骤 3：在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
-<p>启动 RViz2 并加载默认配置：</p>
-<ul class="simple">
-<li><p>在终端 2 中</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>添加一个 <strong>Image</strong> 显示，将话题设置为 <code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code>。</p></li>
-<li><p>为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code> 添加另一个 <strong>Image</strong> 显示。</p></li>
-<li><p>可选：为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 添加 <strong>PointCloud2</strong> 显示。</p></li>
-</ul>
-<p>现在您应该能在 RViz2 中看到彩色流、深度流和 3D 点云。</p>
-</section>
-</section>
-<hr class="docutils" />
-<section id="id4">
-<h2><span class="section-number">3.1.3. </span>示例功能<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<p>节点运行后，尝试一些 ROS 2 CLI 命令：</p>
-<section id="id5">
-<h3><span class="section-number">3.1.3.1. </span>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span>list
-ros2<span class="w"> </span>service<span class="w"> </span>list
-ros2<span class="w"> </span>param<span class="w"> </span>list
-</pre></div>
-</div>
-</section>
-<section id="id6">
-<h3><span class="section-number">3.1.3.2. </span>回显话题<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
-<p>查看深度相机数据：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/depth/camera_info
-</pre></div>
-</div>
-</section>
-<section id="id7">
-<h3><span class="section-number">3.1.3.3. </span>调用服务<a class="headerlink" href="#id7" title="Link to this heading"></a></h3>
-<p>例如，获取设备信息：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
-</pre></div>
-</div>
-</section>
-<section id="rosbag2">
-<h3><span class="section-number">3.1.3.4. </span>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="Link to this heading"></a></h3>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/camera/color/image_raw<span class="w"> </span>/camera/depth/image_raw
-</pre></div>
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-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
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-<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
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-<h1><span class="section-number">4.5. </span>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例：</p>
-<p>要访问压缩的彩色图像，可以使用以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
-</pre></div>
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-<p>此命令将允许您从指定话题接收压缩的彩色图像。</p>
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-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
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-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">4.6.1.1. 启用深度点云的命令</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">4.6. </span>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
-<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
-<section id="id1">
-<h2><span class="section-number">4.6.1. </span>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<section id="id2">
-<h3><span class="section-number">4.6.1.1. </span>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
-<p>要激活深度信息的点云数据流，使用以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
-</div>
-</section>
-<section id="rviz2">
-<h3><span class="section-number">4.6.1.2. </span>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
-<p>运行上述命令后，执行以下步骤可视化深度点云：</p>
-<ol class="simple">
-<li><p>打开RViz2。</p></li>
-<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示。</p></li>
-<li><p>选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 话题进行可视化。</p></li>
-<li><p>将固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> 以正确对齐数据。</p></li>
-</ol>
-<ul class="simple">
-<li><p><strong>可视化示例</strong></p></li>
-</ul>
-<p>深度点云在RViz2中可能如下所示：</p>
-<p><img alt="深度点云可视化" src="../../_images/image5.jpg" /></p>
-</section>
-</section>
-<section id="id3">
-<h2><span class="section-number">4.6.2. </span>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<section id="id4">
-<h3><span class="section-number">4.6.2.1. </span>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
-<p>要启用彩色点云功能，输入以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
-</div>
-</section>
-<section id="id5">
-<h3><span class="section-number">4.6.2.2. </span>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
-<p>要可视化彩色点云数据：</p>
-<ol class="simple">
-<li><p>执行命令后启动RViz2。</p></li>
-<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示面板。</p></li>
-<li><p>从列表中选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code> 话题。</p></li>
-<li><p>确保固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>。</p></li>
-</ol>
-<ul class="simple">
-<li><p><strong>可视化示例</strong></p></li>
-</ul>
-<p>RViz2中彩色点云的结果应该如下所示：</p>
-<p><img alt="彩色点云可视化" src="../../_images/image6.jpg" /></p>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">4.3. </span>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>话题按数据流和功能组织。默认情况下，所有话题都发布在 <code class="docutils literal notranslate"><span class="pre">/camera</span></code> 命名空间下，可以通过 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 启动参数进行更改。</p>
-<blockquote>
-<div><p><strong>注意：</strong> 特定数据流的话题（例如 <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>）只有在相应的启动参数（例如 <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>）设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时才会发布。</p>
-</div></blockquote>
-<section id="id2">
-<h2><span class="section-number">4.3.1. </span>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 <code class="docutils literal notranslate"><span class="pre">color</span></code>、<code class="docutils literal notranslate"><span class="pre">depth</span></code>、<code class="docutils literal notranslate"><span class="pre">ir</span></code>、<code class="docutils literal notranslate"><span class="pre">left_ir</span></code> 和 <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> 数据流，模式是一致的。</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
-<ul>
-<li><p>彩色流的原始图像数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/camera_info</span></code></p>
-<ul>
-<li><p>彩色流的相机校准数据和元数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/metadata</span></code></p>
-<ul>
-<li><p>来自彩色流固件的底层元数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code></p>
-<ul>
-<li><p>深度流的原始图像数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/camera_info</span></code></p>
-<ul>
-<li><p>深度流的相机校准数据和元数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/metadata</span></code></p>
-<ul>
-<li><p>来自深度流固件的底层元数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/image_raw</span></code></p>
-<ul>
-<li><p>红外（IR）流的原始图像数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/camera_info</span></code></p>
-<ul>
-<li><p>IR流的相机校准数据和元数据。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/metadata</span></code></p>
-<ul>
-<li><p>来自IR流固件的底层元数据。</p></li>
-</ul>
-</li>
-</ul>
-</section>
-<section id="id3">
-<h2><span class="section-number">4.3.2. </span>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
-<ul>
-<li><p>从深度流生成的点云数据。</p></li>
-<li><p><strong>条件：</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code></p>
-<ul>
-<li><p>彩色点云数据，其中深度点配准到彩色图像帧。</p></li>
-<li><p><strong>条件：</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
-</ul>
-</li>
-</ul>
-</section>
-<section id="imu">
-<h2><span class="section-number">4.3.3. </span>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
-<p>惯性测量单元（IMU）话题提供加速度计和陀螺仪数据。其行为取决于同步设置。</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
-<ul>
-<li><p>单独的加速度计数据流。</p></li>
-<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_accel</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro/sample</span></code></p>
-<ul>
-<li><p>单独的陀螺仪数据流。</p></li>
-<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro_accel/sample</span></code></p>
-<ul>
-<li><p>包含加速度计和陀螺仪数据的同步数据流（单条消息）。</p></li>
-<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
-</ul>
-</li>
-</ul>
-</section>
-<section id="id4">
-<h2><span class="section-number">4.3.4. </span>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
-<ul>
-<li><p>报告相机设备的当前状态。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_filter_status</span></code></p>
-<ul>
-<li><p>报告深度传感器后处理滤波器的状态。</p></li>
-</ul>
-</li>
-<li><p><code class="docutils literal notranslate"><span class="pre">/diagnostics</span></code></p>
-<ul>
-<li><p>发布相机节点的诊断信息。目前包括设备温度。</p></li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
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-<li class="toctree-l2"><a class="reference internal" href="#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
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-<h1><span class="section-number">5. </span>高级指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>本章介绍SDK的高级功能，包括多相机使用和特殊配置模式。</p>
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-<h2><span class="section-number">5.1. </span>性能与优化<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
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-<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
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-<h1><span class="section-number">5.3.1. </span>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
-<p>本节说明如何使用 ROS 2 将深度图像与彩色图像对齐以创建叠加图像。这对于需要来自不同传感器模态的同步视觉信息的应用特别有用。</p>
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-<h2><span class="section-number">5.3.1.1. </span>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<ol>
-<li><p><strong>基本深度到彩色对齐：</strong></p>
-<p>要简单地将深度图像对齐到彩色图像，请使用以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
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-<p>此命令激活深度配准功能，但不打开查看器。</p>
-</li>
-<li><p><strong>查看深度到彩色叠加：</strong></p>
-<p>如果您希望查看深度到彩色叠加，需要使用以下命令启用查看器：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>enable_d2c_viewer:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
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-<p>这将启动带有深度到彩色配准的相机节点并打开查看器以显示叠加图像。</p>
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-<h2><span class="section-number">5.3.1.2. </span>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
-<p>要在 RViz2 中可视化对齐的图像：</p>
-<ol>
-<li><p>运行上述命令之一后启动 RViz2。</p></li>
-<li><p>选择深度到彩色叠加图像的话题。话题选择示例如下所示：</p>
-<p><img alt="深度到彩色叠加的话题选择" src="../../../_images/image31.png" /></p>
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-<h2><span class="section-number">5.3.1.3. </span>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>在 RViz2 中选择适当的话题后，您将能够看到深度到彩色叠加图像。它可能看起来像这样：</p>
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-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
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-<h1><span class="section-number">5.3.2. </span>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
-<p>对于 Femto Mega 和 Femto Bolt 设备，NFOV 和 WFOV 模式通过在启动文件中配置深度和 IR 的分辨率来实现。</p>
-<p>在启动文件中，depth_width、depth_height、ir_width、ir_height 分别表示深度的分辨率和 IR 的分辨率。</p>
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-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.3.3. </span>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2、Gemini 2 L 和 Femto 以及 Femto Bolt 相机支持深度工作模式切换。</p>
-<ul class="simple">
-<li><p>在启动相机之前，可以为相应的 xxx.launch.py 文件的支持配置深度工作模式（depth_work_mode）。</p></li>
-<li><p>Gemini 2、Gemini 2 L 和 Gemini 2 XL 相机支持深度工作模式切换。</p></li>
-<li><p>xxx.launch.py 的默认深度工作模式配置是相机的默认配置。如果需要修改，可以根据需要切换到相应的模式。</p></li>
-<li><p>具体相机深度工作模式支持类型可以在深度模式的注释中找到。</p></li>
-</ul>
-<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 深度工作模式支持如下：</span>
-<span class="c1"># Unbinned Dense Default</span>
-<span class="c1"># Unbinned Sparse Default</span>
-<span class="c1"># Binned Sparse Default</span>
-<span class="c1"># Obstacle Avoidance</span>
-<span class="n">DeclareLaunchArgument</span><span class="p">(</span><span class="s1">&#39;depth_work_mode&#39;</span><span class="p">,</span> <span class="n">default_value</span><span class="o">=</span><span class="s1">&#39;&#39;</span><span class="p">)</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>查看深度工作模式：</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_depth_work_mode_node
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>示例：</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini2L.launch.py<span class="w"> </span>depth_work_mode:<span class="o">=</span><span class="s2">&quot;Unbinned Dense Default&quot;</span>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
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-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.3.4. </span>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<blockquote>
-<div><p>本节介绍如何在 Gemini330 系列相机中使用 disparity_search_offset 功能（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>）。Disparity_search_offset 仅对深度流的 1280×720、1280×800 和 640×400 分辨率有效。</p>
-</div></blockquote>
-<section id="id2">
-<h2><span class="section-number">5.3.4.1. </span>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>视差搜索范围的定义：对于左图像中的任何像素 <em>(u_l, v)</em>，默认情况下，右图像中对应的视差搜索范围为 <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>，其中视差搜索长度为 256，最大整数视差为 255。如果将搜索的起点调整为 <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>，则偏移量定义为视差偏移。因此，我们的视差搜索范围配置包括视差搜索长度和搜索位置偏移（也可称为视差偏移）。</p>
-<p><img alt="深度点云可视化" src="../../../_images/search_offset0.png" /></p>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.3.4.2. </span>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p>disparity_search_offset 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code>：视差搜索长度，只能设置为 64、128 和 256。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code>：视差搜索偏移值，可以设置为 0 到 127。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code>：视差搜索偏移交错帧。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">offset_index0</span></code>：帧 0 视差搜索偏移值。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">offset_index1</span></code>：帧 1 视差搜索偏移值。</p></li>
-</ul>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">视差范围模式</th>
-<th style="text-align: center;">视差搜索偏移</th>
-<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;">64</td>
-<td style="text-align: center;">85</td>
-<td style="text-align: center;">Gemini 335L  388-406</td>
-</tr>
-<tr>
-<td style="text-align: center;">64</td>
-<td style="text-align: center;">127</td>
-<td style="text-align: center;">Gemini 335L  302-317</td>
-</tr>
-</tbody>
-</table><table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">视差范围模式</th>
-<th style="text-align: center;">视差搜索偏移</th>
-<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;">128</td>
-<td style="text-align: center;">0</td>
-<td style="text-align: center;">Gemini 335  233-249<br />Gemini 335L  453-475</td>
-</tr>
-<tr>
-<td style="text-align: center;">128</td>
-<td style="text-align: center;">45</td>
-<td style="text-align: center;">Gemini 335  172-184<br />Gemini 335L  334-349</td>
-</tr>
-<tr>
-<td style="text-align: center;">128</td>
-<td style="text-align: center;">127</td>
-<td style="text-align: center;">Gemini 335  117-125<br />Gemini 335L  226-236</td>
-</tr>
-</tbody>
-</table><table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">视差范围模式</th>
-<th style="text-align: center;">视差搜索偏移</th>
-<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;">256</td>
-<td style="text-align: center;">85</td>
-<td style="text-align: center;">Gemini 335L  169-178</td>
-</tr>
-<tr>
-<td style="text-align: center;">256</td>
-<td style="text-align: center;">127</td>
-<td style="text-align: center;">Gemini 335L  151-158</td>
-</tr>
-</tbody>
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-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
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-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.3.5. </span>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
-<blockquote>
-<div><p>本节介绍如何在 Gemini 330 系列相机中使用 interleave_ae（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>）</p>
-</div></blockquote>
-<section id="id1">
-<h2><span class="section-number">5.3.5.1. </span>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p>interleave_ae 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code>：设置激光或 hdr 交错。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code>：启用交错帧模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_enable</span></code>：启用跳帧模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_index</span></code>：设置为 0 跳过图案 ir，设置为 1 跳过泛光 ir。</p></li>
-</ul>
-<p><strong>interleave hdr</strong></p>
-<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">hdr</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时，将启用 interleave hdr</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_laser_control</span></code>：帧 1 激光开关设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_exposure</span></code>：帧 1 深度曝光值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_gain</span></code>：帧 1 深度增益值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_brightness</span></code>：帧 1 ir 增益值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 1 ir 最大曝光值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_laser_control</span></code>：帧 0 激光开关设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_exposure</span></code>：帧 0 深度曝光值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_gain</span></code>：帧 0 深度增益值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_brightness</span></code>：帧 0 ir 增益值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 0 ir 最大曝光值设置。</p></li>
-</ul>
-<p><strong>interleave laser</strong></p>
-<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">laser</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时，将启用 interleave laser</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_laser_control</span></code>：帧 1 激光开关设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_exposure</span></code>：帧 1 深度曝光值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_gain</span></code>：帧 1 深度增益值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_brightness</span></code>：帧 1 ir 增益值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 1 ir 最大曝光值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_laser_control</span></code>：帧 0 激光开关设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_exposure</span></code>：帧 0 深度曝光值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_gain</span></code>：帧 0 深度增益值设置，非 AE 模式。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_brightness</span></code>：帧 0 ir 增益值设置。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 0 ir 最大曝光值设置。</p></li>
-</ul>
-</section>
-<section id="id2">
-<h2><span class="section-number">5.3.5.2. </span>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>设置 interleave_ae 参数，重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
-</pre></div>
-</div>
-<p><strong>示例可视化</strong></p>
-<p><img alt="深度点云可视化" src="../../../_images/interleave_ae0.jpeg" /></p>
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-<h2><span class="section-number">5.3.5.3. </span>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
-<p>请参考 <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> 和 <a class="reference external" href="#%E5%8F%82%E6%95%B0%E4%BB%8B%E7%BB%8D">参数介绍</a></p>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.3.7. </span>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<blockquote>
-<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用网络相机。目前仅支持 Femto_Mega、Gemini 335Le 和 Gemini 435Le 设备，其他网络设备将在不久的将来得到支持。</p>
-</div></blockquote>
-<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
-<section id="femto-mega-gemini-435le-gemini-335le">
-<h2><span class="section-number">5.3.7.1. </span>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
-<p><strong>参数介绍</strong></p>
-<p>网络设备设置：<code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 true，将自动枚举网络设备。</p>
-<p>如果您不想自动枚举网络设备，可以将 <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 false，将 <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 设置为设备的 IP 地址，并将 <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> 设置为默认值 8090。</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code>：启用自动枚举网络设备。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code>：设置网络设备的 IP 地址。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code>：设置网络设备的端口。通常可以设置为 8090。</p></li>
-</ul>
-<p><strong>单个网络相机</strong></p>
-<blockquote>
-<div><p>如果您需要运行 Gemini 435Le/Gemini 335Le，只需在运行命令中将 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 替换为 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a>/<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
-</div></blockquote>
-<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 为例：</p>
-<ul class="simple">
-<li><p><strong>自动枚举网络设备：</strong></p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><strong>指定 IP 地址启动设备：</strong></p></li>
-</ul>
-<p>注意：<code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 需要更改为设备的 IP 地址，这里是 192.168.1.10</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
-</pre></div>
-</div>
-<p><strong>多个网络相机</strong></p>
-<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> 为例：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
-</pre></div>
-</div>
-</section>
-<section id="set-device-ip">
-<h2><span class="section-number">5.3.7.2. </span>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
-<p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
-<blockquote>
-<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。</p>
-</div></blockquote>
-<p><strong>示例用法</strong></p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
--p<span class="w"> </span>old_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span><span class="se">\</span>
--p<span class="w"> </span>dhcp:<span class="o">=</span><span class="nb">false</span><span class="w"> </span><span class="se">\</span>
--p<span class="w"> </span>new_ip:<span class="o">=</span><span class="m">192</span>.168.1.11<span class="w"> </span><span class="se">\</span>
--p<span class="w"> </span>mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
--p<span class="w"> </span>gateway:<span class="o">=</span><span class="m">192</span>.168.1.1
-</pre></div>
-</div>
-<p><strong>参数</strong></p>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">old_ip</span></code></strong> – 设备的当前 IP 地址。</p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">dhcp</span></code></strong> – 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 使用 DHCP 或 <code class="docutils literal notranslate"><span class="pre">false</span></code> 使用静态 IP。</p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">new_ip</span></code></strong> – 禁用 DHCP 时要分配的静态 IP 地址。</p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">mask</span></code></strong> – 新 IP 的子网掩码。</p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">gateway</span></code></strong> – 新 IP 的网关地址。</p></li>
-</ul>
-</section>
-<section id="ip">
-<h2><span class="section-number">5.3.7.3. </span>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
-<p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
-<blockquote>
-<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
-</div></blockquote>
-<p><strong>参数</strong></p>
-<ul class="simple">
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong> – 启用强制 IP 功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong> – 连接多个相机时的目标设备 MAC 地址（例如 <code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的 MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong> – 要分配的静态 IP 地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong> – 静态 IP 的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong> – 静态 IP 的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
-</ul>
-<p><strong>示例用法</strong></p>
-<ul class="simple">
-<li><p><strong>为特定设备启用强制 IP：</strong></p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="se">\</span>
-force_ip_enable:<span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="se">\</span>
-force_ip_mac:<span class="o">=</span><span class="m">54</span>:14:FD:06:07:DA<span class="w"> </span><span class="se">\</span>
-force_ip_address:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
-force_ip_subnet_mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
-force_ip_gateway:<span class="o">=</span><span class="m">192</span>.168.1.1<span class="w"> </span><span class="se">\</span>
-net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
-net_device_port:<span class="o">=</span><span class="m">8090</span>
-</pre></div>
-</div>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
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-<h1><span class="section-number">5.3.6. </span>预定义预设<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
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-<h1><span class="section-number">5.2.4. </span>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
-<blockquote>
-<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg 和 Gemini 345Lg 设备，其他 GMSL 设备将在不久的将来得到支持。</p>
-</div></blockquote>
-<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
-<section id="id1">
-<h2><span class="section-number">5.2.4.1. </span>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p>GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_gmsl.launch.py
-</pre></div>
-</div>
-</section>
-<section id="id2">
-<h2><span class="section-number">5.2.4.2. </span>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>要获取 GMSL 相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
-</pre></div>
-</div>
-<p>例如，获得的 gmsl 相机 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>：<code class="docutils literal notranslate"><span class="pre">gmsl2-1</span></code></p>
-<p>转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py">multi_gmsl_camera.launch.py</a> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_gmsl_camera.launch.py
-</pre></div>
-</div>
-<blockquote>
-<div><p>注意：默认情况下，multi_gmsl_camera.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 进行修改。</p>
-</div></blockquote>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.2.4.3. </span>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p>首先，请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
-<p>此外，GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro，因此无需设置 <code class="docutils literal notranslate"><span class="pre">primary</span></code> 模式。每个 GMSL 相机都是 <code class="docutils literal notranslate"><span class="pre">secondary</span></code>。</p>
-<p><strong>额外的参数设置</strong></p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code>：设置硬件 soc 触发源帧率。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code>：启用硬件 soc 触发。</p></li>
-</ul>
-<p><strong>运行启动文件</strong></p>
-<p>请参考 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py">multi_gmsl_camera_synced.launch.py</a> 中的配置。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_gmsl_camera_synced.launch.py
-</pre></div>
-</div>
-<blockquote>
-<div><p>注意：默认情况下，multi_gmsl_camera_synced.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 进行修改。</p>
-</div></blockquote>
-</section>
-<section id="id4">
-<h2><span class="section-number">5.2.4.4. </span>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<p>GMSL 相机与各种反序列化器芯片（如 MAX9296 和 MAX92716）接口。Orbbec GMSL 相机支持多个流，包括深度、彩色、IR 和 IMU 数据，但存在某些使用限制：</p>
-<ul class="simple">
-<li><p>GMSL 仅支持 V4L2 和 YUYV 格式；不支持 MJPG 格式。RGB 输出源自 YUYV 格式转换。</p></li>
-<li><p>Gemini-335Lg 的元数据通过单独的节点提供，而其他型号的元数据嵌入在视频帧中，这对用户保持透明。</p></li>
-<li><p>当使用 Max96712 作为反序列化器芯片时，由于 Max96712 芯片的特性，在 secondary_synced 模式下必须提供多机同步触发信号。否则，在切换数据流时会发生数据流中断。</p></li>
-<li><p>连接在同一个 MAX9296、MAX96712 LinkA/B 或 MAX96712 LinkC/D 上的两个相机有以下限制：</p>
-<ul>
-<li><p>在驱动程序版本 v1.2.02 之前，存在一个限制，即一个相机的 RGB 和另一个相机的右 IR 不能同时流式传输。在驱动程序版本 v1.2.02 之后，限制修改为一个相机的 RGB 和另一个相机的左 IR 不能同时流式传输。</p></li>
-<li><p>在驱动程序版本 v1.2.02 之前，存在一个限制，即一个相机的 DEPTH 和另一个相机的左 IR 不能同时流式传输。在驱动程序版本 v1.2.02 之后，限制修改为一个相机的 DEPTH 和另一个相机的右 IR 不能同时流式传输。</p></li>
-<li><p>两个相机的活动流的组合最大数量限制为四个（满足上述两个条件即可确保合规）。</p></li>
-</ul>
-</li>
-</ul>
-<p>有关更多已知限制，请参考 <a class="reference external" href="https://github.com/orbbec/MIPI_Camera_Platform_Driver/blob/main/doc/Instructions%20for%20Using%20GMSL%20Camera.md">Orbbec GMSL 相机的使用限制</a></p>
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-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.2.1. </span>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<ul class="simple">
-<li><p>要获取相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 参数设置为您拥有的相机数量。</p></li>
-<li><p>转到 <code class="docutils literal notranslate"><span class="pre">OrbbecSDK_ROS2/launch/multi_xxx.launch.py</span></code> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</p></li>
-<li><p>不要忘记将 <code class="docutils literal notranslate"><span class="pre">include</span></code> 标签放在 <code class="docutils literal notranslate"><span class="pre">group</span></code> 标签内。
-否则，不同相机的参数值可能会被污染。</p></li>
-</ul>
-<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">DeclareLaunchArgument</span><span class="p">,</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">ExecuteProcess</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
-<span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
-
-
-<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
-    <span class="c1"># Include launch files</span>
-    <span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s1">&#39;orbbec_camera&#39;</span><span class="p">)</span>
-    <span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s1">&#39;launch&#39;</span><span class="p">)</span>
-    <span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">&#39;gemini2L.launch.py&#39;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s1">&#39;camera_name&#39;</span><span class="p">:</span> <span class="s1">&#39;camera_01&#39;</span><span class="p">,</span>
-            <span class="s1">&#39;usb_port&#39;</span><span class="p">:</span> <span class="s1">&#39;6-2.4.4.2&#39;</span><span class="p">,</span>  <span class="c1"># replace your usb port here</span>
-            <span class="s1">&#39;device_num&#39;</span><span class="p">:</span> <span class="s1">&#39;2&#39;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
-    <span class="p">)</span>
-
-    <span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">&#39;gemini2L.launch.py&#39;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s1">&#39;camera_name&#39;</span><span class="p">:</span> <span class="s1">&#39;camera_02&#39;</span><span class="p">,</span>
-            <span class="s1">&#39;usb_port&#39;</span><span class="p">:</span> <span class="s1">&#39;6-2.4.1&#39;</span><span class="p">,</span>  <span class="c1"># replace your usb port here</span>
-            <span class="s1">&#39;device_num&#39;</span><span class="p">:</span> <span class="s1">&#39;2&#39;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
-    <span class="p">)</span>
-
-    <span class="c1"># If you need more cameras, just add more launch_include here, and change the usb_port and device_num</span>
-
-    <span class="c1"># Launch description</span>
-    <span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">([</span>
-        <span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">]),</span>
-        <span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">]),</span>
-    <span class="p">])</span>
-
-    <span class="k">return</span> <span class="n">ld</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>要启动相机，运行以下命令：</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera.launch.py
-</pre></div>
-</div>
-<section id="id2">
-<h2><span class="section-number">5.2.1.1. </span>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p><strong>电源供应不足</strong>：</p>
-<ul class="simple">
-<li><p>确保每个相机连接到单独的集线器。</p></li>
-<li><p>使用带电源的集线器为每个相机提供足够的电力。</p></li>
-</ul>
-<p><strong>高分辨率</strong>：</p>
-<ul class="simple">
-<li><p>尝试降低分辨率以解决数据流问题。</p></li>
-</ul>
-<p><strong>增加 usbfs_memory_mb 值</strong>：</p>
-<ul class="simple">
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到 128MB（这是一个参考值，可以根据系统需求进行调整）
-通过运行以下命令：</p></li>
-</ul>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">    </span><span class="nb">echo</span><span class="w"> </span><span class="m">128</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/sys/module/usbcore/parameters/usbfs_memory_mb
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>要使此更改永久生效，请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
-</ul>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.2.1.2. </span>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p>请参考 <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS 配置</span></a> 文件。</p>
-</section>
-</section>
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-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
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-<h1><span class="section-number">5.2.2. </span>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<blockquote>
-<div><p>本文档的目的是说明如何在 OrbbecSDK_ROS2 中使用多相机同步</p>
-</div></blockquote>
-<section id="id2">
-<h2><span class="section-number">5.2.2.1. </span>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>请阅读多相机同步设置指南：<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">多相机同步设置</a></p></li>
-<li><p>确保相机正确连接到多相机同步器。</p></li>
-</ul>
-<p><img alt="深度点云可视化" src="../../../_images/multi_camera_synced1.png" /></p>
-</section>
-<section id="orbbecsdk-ros2">
-<h2><span class="section-number">5.2.2.2. </span>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
-</pre></div>
-</div>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.2.2.3. </span>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p>打开 multi_camera_synced.launch.py，并按照下面所示配置相机设置：</p>
-<p><img alt="深度点云可视化" src="../../../_images/multi_camera_synced2.png" /></p>
-<ol class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 是用于启动相机的启动文件。</p></li>
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">G330_0</span></code>。例如，发布的彩色图像话题将是 <code class="docutils literal notranslate"><span class="pre">/G330_0/color/image_raw</span></code>。</p></li>
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2-2</span></code>，表示正在使用端口 <code class="docutils literal notranslate"><span class="pre">2-2</span></code> 上的相机设备。此值可以在 <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code> 命令的输出中找到。</p></li>
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2</span></code>，表示将使用两个相机。</p></li>
-<li><p>将 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">primary</span></code>，表示 <code class="docutils literal notranslate"><span class="pre">2-7</span></code> 相机设备处于主模式。多相机同步模式选项可以在下图中找到。</p></li>
-<li><p>来自 <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> 的参数可以覆盖在 <code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 中设置的参数（可选）。</p></li>
-<li><p>对于从属相机，将 <code class="docutils literal notranslate"><span class="pre">trigger_out_enabled</span></code> 设置为 false。</p></li>
-</ol>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>模式名称</strong></th>
-<th><strong>设置效果说明</strong></th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>free_run</td>
-<td>- 支持不同的帧率设置<br />- 8 针同步接口不支持外部输出同步相关信号</td>
-</tr>
-<tr>
-<td>standalone（默认）</td>
-<td>● 默认与 Primary 相同<br />● 内置 RGBD 帧同步<br />● 8 针同步接口默认不向外部输出信号</td>
-</tr>
-<tr>
-<td>primary</td>
-<td>● 设置为主相机<br />● 8 针同步接口向外部设备输出信号</td>
-</tr>
-<tr>
-<td>secondary</td>
-<td>● 设置为从属（被动同步；当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时，根据外部触发信号采集图像；当没有外部触发信号时，停止流）<br />● 8 针同步接口向外部设备输出信号</td>
-</tr>
-<tr>
-<td>secondary_synced</td>
-<td>● 设置为从属同步（被动同步；当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时，根据外部触发信号采集图像；当没有外部触发信号时，根据设置的帧率的内部触发信号采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
-</tr>
-<tr>
-<td>hardware_triggering</td>
-<td>● 设置为硬件触发（被动触发；当外部有硬件触发信号输入且触发信号时间间隔不小于当前上限时，根据外部触发信号采集图像；当没有外部触发信号时，不采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
-</tr>
-<tr>
-<td>software_triggering</td>
-<td>● 设置为软件触发（被动触发；当主机有触发命令输入且触发命令时间间隔不小于当前上限时，根据触发命令采集图像；当没有触发命令时，不采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
-</tr>
-</tbody>
-</table><ul class="simple">
-<li><p>主相机应该最后启动。</p></li>
-<li><p>理想情况下，启动每个相机之间应该有 2 秒的延迟。</p></li>
-</ul>
-</section>
-<section id="id4">
-<h2><span class="section-number">5.2.2.4. </span>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced.launch.py
-</pre></div>
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-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
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-      <li class="breadcrumb-item active"><span class="section-number">5.2.3. </span>多相机同步验证节点</li>
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-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">5.2.3. </span>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>文件路径：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
-<p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
-它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。</p>
-<hr class="docutils" />
-<section id="id2">
-<h2><span class="section-number">5.2.3.1. </span>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<section id="multi-camera-synced-launch-py">
-<h3><span class="section-number">5.2.3.1.1. </span><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p>增加 <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> 以适配 4 台相机</p></li>
-<li><p>根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py</p></li>
-<li><p>命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...</p></li>
-<li><p>设置 device_num 数量为 4</p></li>
-<li><p>USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
-<code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code></p></li>
-<li><p>同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced</p></li>
-<li><p>启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。</p></li>
-</ul>
-</section>
-<hr class="docutils" />
-<section id="id3">
-<h3><span class="section-number">5.2.3.1.2. </span><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
-<p>修改 <code class="docutils literal notranslate"><span class="pre">config</span></code> 目录下的以下两个配置文件：</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">camera_secondary_params.yaml</span></code></p></li>
-</ul>
-<p>确保以下内容统一：</p>
-<ul class="simple">
-<li><p>启用 <strong>depth</strong> 与 <strong>color</strong> 流；</p></li>
-<li><p>统一各相机的 <strong>帧率（fps）</strong>。</p></li>
-</ul>
-</section>
-<hr class="docutils" />
-<section id="id4">
-<h3><span class="section-number">5.2.3.1.3. </span><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p>启动多机同步 launch： <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code></p></li>
-<li><p>打开新终端运行同步验证节点： <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">image_sync_example_node</span></code>
-该节点会输出多相机图像的时间戳差异信息，用于验证同步效果。</p></li>
-</ul>
-</section>
-<hr class="docutils" />
-<section id="launch">
-<h3><span class="section-number">5.2.3.1.4. </span><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">TimerAction</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
-<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span><span class="p">,</span> <span class="n">LoadComposableNodes</span>
-
-
-
-<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
-    <span class="c1"># Include launch files</span>
-    <span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s2">&quot;orbbec_camera&quot;</span><span class="p">)</span>
-    <span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">&quot;launch&quot;</span><span class="p">)</span>
-    <span class="n">config_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">&quot;config&quot;</span><span class="p">)</span>
-    <span class="n">config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">&quot;camera_params.yaml&quot;</span><span class="p">)</span>
-    <span class="n">secondary_config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">&quot;camera_secondary_params.yaml&quot;</span><span class="p">)</span>
-
-    <span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_01&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-2.3&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;primary&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">config_file_path</span><span class="p">,</span>
-            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;true&quot;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
-    <span class="p">)</span>
-
-    <span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_02&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-1&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
-            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
-    <span class="p">)</span>
-
-    <span class="n">launch3_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_03&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-3&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
-            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
-    <span class="p">)</span>
-
-    <span class="n">launch4_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
-        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
-            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
-        <span class="p">),</span>
-        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
-            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_04&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-4&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
-            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
-            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
-        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
-    <span class="p">)</span>
-
-
-
-    <span class="c1"># Launch description</span>
-    <span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">(</span>
-        <span class="p">[</span>
-
-            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">])]),</span>
-            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch3_include</span><span class="p">])]),</span>
-            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch4_include</span><span class="p">])]),</span>
-            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">6.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">])]),</span>
-            <span class="c1"># The primary camera should be launched at last</span>
-        <span class="p">]</span>
-    <span class="p">)</span>
-
-    <span class="k">return</span> <span class="n">ld</span>
-</pre></div>
-</div>
-</section>
-</section>
-<hr class="docutils" />
-<section id="id5">
-<h2><span class="section-number">5.2.3.2. </span>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
-<section id="usb">
-<h3><span class="section-number">5.2.3.2.1. </span><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">echo</span> <span class="mi">512</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
-</pre></div>
-</div>
-</section>
-<section id="fast-dds">
-<h3><span class="section-number">5.2.3.2.2. </span><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
-<p>优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，<a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">配置过程见此章节</span></a>。</p>
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-<li class="toctree-l1"><a class="reference internal" href="../../1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
-</li>
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-<li class="toctree-l1"><a class="reference internal" href="../../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
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-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
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-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
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-<h1><span class="section-number">5.1.2. </span>高效的进程内通信：<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<section id="id2">
-<h2><span class="section-number">5.1.2.1. </span>简介<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>如果我们的ROS2封装器节点与订阅者节点加载在同一进程中，它支持零拷贝通信。这可以减少图像/点云话题的拷贝时间，特别是在大帧分辨率和高FPS的情况下。</p>
-<p>您需要启动一个组件容器，并将我们的节点作为组件与其他组件节点一起启动。有关&quot;在单个进程中组合多个节点&quot;的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">此处</a>。</p>
-<p>有关高效进程内通信的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">此处</a>。</p>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.1.2.2. </span>示例<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p><strong>手动将多个组件加载到同一进程中</strong></p>
-<ul>
-<li><p>启动组件：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>rclcpp_components<span class="w"> </span>component_container
-</pre></div>
-</div>
-</li>
-<li><p>添加封装器：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>component<span class="w"> </span>load<span class="w"> </span>/ComponentManager<span class="w"> </span>orbbec_camera<span class="w"> </span>orbbec_camera::OBCameraNodeDriver<span class="w"> </span>-e<span class="w"> </span>use_intra_process_comms:<span class="o">=</span><span class="nb">true</span>
-</pre></div>
-</div>
-<p>以相同方式加载其他组件节点（封装器话题的消费者）。</p>
-</li>
-</ul>
-<p><strong>使用启动文件</strong></p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_intra_process_demo_launch.py
-</pre></div>
-</div>
-<p><strong>限制</strong></p>
-<ul class="simple">
-<li><p>RCLPY目前不支持节点组件</p></li>
-<li><p>使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 的压缩图像将被禁用，因为进程内通信不支持此功能</p></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
-<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">5.1.3. </span>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
-<p>使用默认配置时，Fast DDS表现出次优的传输效率，导致在ROS2中使用Orbbec相机时图像传输延迟显著。本文档提供了优化Fast DDS以提高图像传输效率的指导。</p>
-<section id="id1">
-<h2><span class="section-number">5.1.3.1. </span>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p><strong>IP分片时间</strong></p>
-<ul>
-<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code>（默认值：30秒）</p></li>
-<li><p><strong>目的</strong>: 定义IP分片保留在内存中的持续时间。</p></li>
-<li><p><strong>调整</strong>: 减少此值以缩短未接收到分片的时间窗口，这有助于减少延迟。考虑到您环境的具体需求，因为此设置会影响所有传入的分片。</p>
-<p><strong>示例</strong>: 设置为3秒。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_time<span class="o">=</span><span class="m">3</span>
-</pre></div>
-</div>
-</li>
-</ul>
-<p><strong>IP分片内存阈值</strong></p>
-<ul>
-<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_high_thresh</span></code>（默认值：262144字节）</p></li>
-<li><p><strong>目的</strong>: 设置用于重组IP分片的最大内存。</p></li>
-<li><p><strong>调整</strong>: 增加此值以允许更多内存用于分片重组，这可以改善较大数据包的处理。</p>
-<p><strong>示例</strong>: 增加到128 MB。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_high_thresh<span class="o">=</span><span class="m">134217728</span>
-</pre></div>
-</div>
-</li>
-</ul>
-<p><strong>最大缓冲区大小</strong></p>
-<ul>
-<li><p><strong>目的</strong>: 配置接收和发送数据的最大缓冲区大小，这对高吞吐量数据传输至关重要。</p></li>
-<li><p><strong>调整</strong>: 设置接收和发送操作的最大缓冲区大小。</p>
-<p><strong>命令</strong>:</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
-sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
-sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
-sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
-</pre></div>
-</div>
-</li>
-</ul>
-<p>或者，通过将这些设置添加到 <code class="docutils literal notranslate"><span class="pre">/etc/sysctl.d/10-fastrtps-max.conf</span></code> 文件中使其永久生效。</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>gedit<span class="w"> </span>/etc/sysctl.d/10-fastrtps-max.conf
-</pre></div>
-</div>
-<p>将以下行添加到文件中：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
-net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
-net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
-net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
-</pre></div>
-</div>
-<p>然后保存并退出文件。运行 <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">sysctl</span> <span class="pre">-p</span></code> 以应用更改。</p>
-<p>有关详细指导，请参考 <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS调优文档</a>。</p>
-</section>
-<section id="fast-dds">
-<h2><span class="section-number">5.1.3.2. </span>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
-<p>以下是针对Orbbec相机与ROS2使用而优化的Fast DDS配置文件示例。此配置通过调整缓冲区大小和传输设置来增强整体数据传输。</p>
-<p><strong>配置文件:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
-<p>将此文件放在 <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> 目录中。</p>
-<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="cp">&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot;?&gt;</span>
-<span class="nt">&lt;profiles</span><span class="w"> </span><span class="na">xmlns=</span><span class="s">&quot;http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles&quot;</span><span class="nt">&gt;</span>
-<span class="w">    </span><span class="nt">&lt;transport_descriptors&gt;</span>
-<span class="w">        </span><span class="nt">&lt;transport_descriptor&gt;</span>
-<span class="w">            </span><span class="nt">&lt;transport_id&gt;</span>UDP_transport<span class="nt">&lt;/transport_id&gt;</span>
-<span class="w">            </span><span class="nt">&lt;type&gt;</span>UDPv4<span class="nt">&lt;/type&gt;</span>
-<span class="w">            </span><span class="nt">&lt;maxInitialPeersRange&gt;</span>10<span class="nt">&lt;/maxInitialPeersRange&gt;</span>
-<span class="w">            </span><span class="nt">&lt;maxMessageSize&gt;</span>65000<span class="nt">&lt;/maxMessageSize&gt;</span>
-<span class="w">            </span><span class="nt">&lt;sendBufferSize&gt;</span>1048576<span class="nt">&lt;/sendBufferSize&gt;</span>
-<span class="w">            </span><span class="nt">&lt;receiveBufferSize&gt;</span>1048576<span class="nt">&lt;/receiveBufferSize&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/transport_descriptor&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/transport_descriptors&gt;</span>
-<span class="w">    </span><span class="nt">&lt;participant</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;participant_profile_ros2&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;rtps&gt;</span>
-<span class="w">            </span><span class="nt">&lt;name&gt;</span>profile_for_ros2_context<span class="nt">&lt;/name&gt;</span>
-<span class="w">            </span><span class="nt">&lt;userTransports&gt;</span>
-<span class="w">                </span><span class="nt">&lt;transport_id&gt;</span>UDP_transport<span class="nt">&lt;/transport_id&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/userTransports&gt;</span>
-<span class="w">            </span><span class="nt">&lt;useBuiltinTransports&gt;</span>false<span class="nt">&lt;/useBuiltinTransports&gt;</span>
-<span class="w">            </span><span class="nt">&lt;sendSocketBufferSize&gt;</span>1048576<span class="nt">&lt;/sendSocketBufferSize&gt;</span>
-<span class="w">            </span><span class="nt">&lt;listenSocketBufferSize&gt;</span>1048576<span class="nt">&lt;/listenSocketBufferSize&gt;</span>
-<span class="w">            </span><span class="nt">&lt;builtin&gt;</span>
-<span class="w">                </span><span class="nt">&lt;initialPeersList&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;locator&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;udpv4&gt;</span>
-<span class="w">                            </span><span class="nt">&lt;address&gt;</span>127.0.0.1<span class="nt">&lt;/address&gt;</span>
-<span class="w">                        </span><span class="nt">&lt;/udpv4&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;/locator&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/initialPeersList&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/builtin&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/rtps&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/participant&gt;</span>
-<span class="w">    </span><span class="nt">&lt;data_writer</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;default publisher profile&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;qos&gt;</span>
-<span class="w">            </span><span class="nt">&lt;publishMode&gt;</span>
-<span class="w">                </span><span class="nt">&lt;kind&gt;</span>ASYNCHRONOUS<span class="nt">&lt;/kind&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/publishMode&gt;</span>
-<span class="w">            </span><span class="nt">&lt;latencyBudget&gt;</span>
-<span class="w">                </span><span class="nt">&lt;duration&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;sec&gt;</span>0<span class="nt">&lt;/sec&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;nanosec&gt;</span>1000000<span class="nt">&lt;/nanosec&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/duration&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/latencyBudget&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/qos&gt;</span>
-<span class="w">        </span><span class="nt">&lt;historyMemoryPolicy&gt;</span>PREALLOCATED_WITH_REALLOC<span class="nt">&lt;/historyMemoryPolicy&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/data_writer&gt;</span>
-<span class="w">    </span><span class="nt">&lt;data_reader</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;default subscription profile&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
-<span class="w">        </span><span class="nt">&lt;qos&gt;</span>
-<span class="w">            </span><span class="nt">&lt;data_sharing&gt;</span>
-<span class="w">                </span><span class="nt">&lt;kind&gt;</span>AUTOMATIC<span class="nt">&lt;/kind&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/data_sharing&gt;</span>
-<span class="w">            </span><span class="nt">&lt;latencyBudget&gt;</span>
-<span class="w">                </span><span class="nt">&lt;duration&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;sec&gt;</span>0<span class="nt">&lt;/sec&gt;</span>
-<span class="w">                    </span><span class="nt">&lt;nanosec&gt;</span>1000000<span class="nt">&lt;/nanosec&gt;</span>
-<span class="w">                </span><span class="nt">&lt;/duration&gt;</span>
-<span class="w">            </span><span class="nt">&lt;/latencyBudget&gt;</span>
-<span class="w">        </span><span class="nt">&lt;/qos&gt;</span>
-<span class="w">        </span><span class="nt">&lt;historyMemoryPolicy&gt;</span>PREALLOCATED_WITH_REALLOC<span class="nt">&lt;/historyMemoryPolicy&gt;</span>
-<span class="w">    </span><span class="nt">&lt;/data_reader&gt;</span>
-<span class="nt">&lt;/profiles&gt;</span>
-</pre></div>
-</div>
-<p><strong>环境变量</strong></p>
-<p>设置以下环境变量以使用自定义Fast DDS配置文件：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
-<span class="nb">export</span><span class="w"> </span><span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="nv">$HOME</span>/shm_fastdds.xml
-<span class="nb">export</span><span class="w"> </span><span class="nv">RMW_FASTRTPS_USE_QOS_FROM_XML</span><span class="o">=</span><span class="m">1</span>
-</pre></div>
-</div>
-<p>此配置旨在优化数据流并减少传输延迟，提高Orbbec相机系统在ROS2环境中的响应性和可靠性。</p>
-</section>
-</section>
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-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="../advanced_guide.html">5. 高级指南</a><ul class="current">
-<li class="toctree-l2 current"><a class="reference internal" href="../advanced_guide.html#id2">5.1. 性能与优化</a><ul class="current">
-<li class="toctree-l3 current"><a class="current reference internal" href="#">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
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-<h1><span class="section-number">5.1.1. </span>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
-<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">示例</a> 中找到使用示例代码。</p>
-<p>本文档概述了在使用 <strong>Gemini 330系列相机</strong> 的 <strong>OrbbecSDK_ROS2 v2</strong> 环境中最小化CPU使用率的策略。固件版本必须 <strong>不低于1.4.10</strong>，且 <code class="docutils literal notranslate"><span class="pre">device</span></code> 应设置为 <strong>Default</strong>。</p>
-<section id="cpu">
-<h2><span class="section-number">5.1.1.1. </span>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
-<p>要在OrbbecSDK_ROS2中实现最低的CPU使用率，建议配置以下参数。</p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">参数</th>
-<th style="text-align: center;">推荐值</th>
-<th style="text-align: center;">说明</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;"><code>uvc_backend</code></td>
-<td style="text-align: center;"><code>v4l2</code></td>
-<td style="text-align: center;">与 <code>libuvc</code> 相比CPU使用率更低</td>
-</tr>
-<tr>
-<td style="text-align: center;"><code>color_format</code></td>
-<td style="text-align: center;"><code>RGB</code></td>
-<td style="text-align: center;">CPU使用率低于 <code>MJPG</code></td>
-</tr>
-<tr>
-<td style="text-align: center;"><code>filter</code></td>
-<td style="text-align: center;">仅使用 <code>hardware_noise_removal_filter</code></td>
-<td style="text-align: center;">其他滤波器会显著增加CPU使用率</td>
-</tr>
-</tbody>
-</table></section>
-<section id="id1">
-<h2><span class="section-number">5.1.1.2. </span>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
-</ul>
-</section>
-<section id="id2">
-<h2><span class="section-number">5.1.1.3. </span>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p><strong>硬件配置</strong></p>
-<ul class="simple">
-<li><p><strong>CPU</strong>: Intel i7-8700 &#64; 3.20GHz</p></li>
-<li><p><strong>内存</strong>: 24 GB</p></li>
-<li><p><strong>存储</strong>: Micron 2200S NVMe 256GB</p></li>
-<li><p><strong>GPU</strong>: NVIDIA GeForce GTX 1660Ti</p></li>
-<li><p><strong>操作系统</strong>: Ubuntu22.04</p></li>
-</ul>
-<p><strong>ROS配置</strong></p>
-<ul class="simple">
-<li><p><strong>ROS版本</strong>: ROS2 Humble</p></li>
-<li><p><strong>SDK版本</strong>: OrbbecSDK_ROS2 v2.2.1</p></li>
-</ul>
-<p><strong>相机设置</strong></p>
-<ul class="simple">
-<li><p>设备: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L</p></li>
-<li><p>固件版本: 1.4.10</p></li>
-</ul>
-</section>
-<section id="id3">
-<h2><span class="section-number">5.1.1.4. </span>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p><strong>数据流设置：</strong></p>
-<ul class="simple">
-<li><p>深度/左IR/右IR: 848×480 &#64; 30fps</p></li>
-<li><p>彩色: 848×480 &#64; 30fps</p></li>
-</ul>
-<p>注意：以下CPU使用率数据重点关注 <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>、<code class="docutils literal notranslate"><span class="pre">color_format</span></code> 和各种滤波器组合。</p>
-</section>
-<section id="id4">
-<h2><span class="section-number">5.1.1.5. </span>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> 对比（RGB格式）</strong></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">libuvc CPU使用率</th>
-<th style="text-align: center;">v4l2 CPU使用率</th>
-<th style="text-align: center;">绝对变化</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;">182.8%</td>
-<td style="text-align: center;">118.8%</td>
-<td style="text-align: center;">-64.0%</td>
-</tr>
-</tbody>
-</table><p>使用v4l2后端可以显著降低CPU使用率。在我们的实现中，v4l2无需对Linux内核进行任何补丁即可工作，允许用户轻松在v4l2和libuvc之间切换，并保持与标准Linux发行版的完全兼容性。</p>
-<p><strong><code class="docutils literal notranslate"><span class="pre">color_format</span></code> 对比（MJPG vs RGB）</strong></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">后端</th>
-<th style="text-align: center;">MJPG CPU使用率</th>
-<th style="text-align: center;">RGB CPU使用率</th>
-<th style="text-align: center;">绝对变化</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;">libuvc</td>
-<td style="text-align: center;">347.7%</td>
-<td style="text-align: center;">182.8%</td>
-<td style="text-align: center;">-164.9%</td>
-</tr>
-<tr>
-<td style="text-align: center;">v4l2</td>
-<td style="text-align: center;">170.0%</td>
-<td style="text-align: center;">118.8%</td>
-<td style="text-align: center;">-51.2%</td>
-</tr>
-</tbody>
-</table><p>如果选择RGB格式而不是MJPG，可以降低CPU使用率，因为MJPG图像的解码会消耗主机CPU资源。</p>
-<p><strong>滤波器配置影响</strong></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th>应用的滤波器</th>
-<th>libuvc CPU使用率</th>
-<th>CPU使用率增加</th>
-<th>v4l2 CPU使用率</th>
-<th>CPU使用率增加</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>无滤波器（基准）</td>
-<td>182.8%</td>
-<td>0.0%（基准）</td>
-<td>118.8%</td>
-<td>0.0%（基准）</td>
-</tr>
-<tr>
-<td><code>（软件）noise_removal_filter</code></td>
-<td>218.0%</td>
-<td>+35.2%</td>
-<td>128.5%</td>
-<td>+9.7%</td>
-</tr>
-<tr>
-<td><code>（软件）noise_removal_filter + spatial_filter</code></td>
-<td>469.6%</td>
-<td>+286.8%</td>
-<td>336.7%</td>
-<td>+217.9%</td>
-</tr>
-<tr>
-<td><code>hardware_noise_removal_filter</code></td>
-<td>186.3%</td>
-<td>+3.5%</td>
-<td>115.4%</td>
-<td>-3.4%</td>
-</tr>
-<tr>
-<td><code>hardware_noise_removal_filter + spatial_filter</code></td>
-<td>251.3%</td>
-<td>+68.5%</td>
-<td>152.5%</td>
-<td>+33.7%</td>
-</tr>
-</tbody>
-</table><p>根据测试结果，仅使用 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> 相比无滤波器基准，对 <code class="docutils literal notranslate"><span class="pre">libuvc</span></code>（+3.5%）和 <code class="docutils literal notranslate"><span class="pre">v4l2</span></code>（-3.4%）的CPU使用率变化可以忽略不计，因为此滤波器在相机硬件内部运行。相比之下，其他滤波器在主机系统上执行。将 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 添加到硬件滤波器会导致CPU使用率适度增加，而应用基于软件的 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code>——无论是单独使用还是与 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 结合——都会显著增加CPU负载。为保持较低的CPU使用率，建议避免使用基于软件的滤波器，仅依赖 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>。</p>
-</section>
-<section id="id5">
-<h2><span class="section-number">5.1.1.6. </span>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th style="text-align: center;">参数</th>
-<th style="text-align: center;">推荐值</th>
-<th style="text-align: center;">说明</th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td style="text-align: center;"><code>depth_registration</code></td>
-<td style="text-align: center;"><code>false</code> 或 <code>true</code> 配合 <code>align_mode=HW</code></td>
-<td style="text-align: center;">软件对齐消耗更多CPU</td>
-</tr>
-<tr>
-<td style="text-align: center;"><code>enable_point_cloud</code></td>
-<td style="text-align: center;"><code>false</code></td>
-<td style="text-align: center;">禁用点云可降低CPU使用率</td>
-</tr>
-<tr>
-<td style="text-align: center;"><code>enable_colored_point_cloud</code></td>
-<td style="text-align: center;"><code>false</code></td>
-<td style="text-align: center;">禁用彩色点云可降低CPU使用率</td>
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
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-</ul>
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-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
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-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. 应用指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="benchmark.html">6. 性能基准测试</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">6.2. </span>性能基准测试使用<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>本节介绍如何在 C++ 和 Python 中使用性能基准测试工具，并提供示例 YAML 配置文件。</p>
-<section id="id2">
-<h2><span class="section-number">6.2.1. </span>使用通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">common_benchmark_node</span><span class="o">.</span><span class="n">py</span> \
-    <span class="o">--</span><span class="n">run_time</span> <span class="mi">2</span><span class="n">h</span>  \
-    <span class="o">--</span><span class="n">csv_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">log</span><span class="o">.</span><span class="n">csv</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><strong>参数</strong></p>
-<ul>
-<li><p><strong>--run_time</strong>：监控持续时间，指定为时间字符串，如 <code class="docutils literal notranslate"><span class="pre">&quot;10s&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;5m&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;1h&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;2d&quot;</span></code>。默认为 10 秒。</p></li>
-<li><p><strong>--csv_file</strong>：输出 CSV 文件的路径。默认情况下，它保存在工作空间目录中，名称为 &quot;camera_monitor_log.csv&quot;。</p></li>
-</ul>
-</li>
-</ul>
-</section>
-<section id="id3">
-<h2><span class="section-number">6.2.2. </span>使用服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<section id="ros2-c">
-<h3><span class="section-number">6.2.2.1. </span>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><strong>单个服务基准测试</strong></p></li>
-</ul>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
-    <span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
-    <span class="o">-</span><span class="n">p</span> <span class="n">service_name</span><span class="o">:=/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> \
-    <span class="o">-</span><span class="n">p</span> <span class="n">service_type</span><span class="o">:=</span><span class="n">orbbec_camera_msgs</span><span class="o">/</span><span class="n">srv</span><span class="o">/</span><span class="n">GetInt32</span> \
-    <span class="o">-</span><span class="n">p</span> <span class="n">count</span><span class="o">:=</span><span class="mi">10</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><strong>多个服务基准测试（YAML 配置）</strong></p></li>
-</ul>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
-    <span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
-    <span class="o">-</span><span class="n">p</span> <span class="n">yaml_file</span><span class="o">:=/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service_cpp</span><span class="o">.</span><span class="n">yaml</span>
-</pre></div>
-</div>
-</section>
-<section id="ros2-python">
-<h3><span class="section-number">6.2.2.2. </span>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
-<ul class="simple">
-<li><p><strong>单个服务基准测试</strong></p></li>
-</ul>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">service</span> <span class="o">/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> <span class="o">--</span><span class="n">count</span> <span class="mi">10</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><strong>多个服务基准测试（YAML 配置）</strong></p></li>
-</ul>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">yaml_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service</span><span class="o">.</span><span class="n">yaml</span>
-</pre></div>
-</div>
-</section>
-<section id="yaml">
-<h3><span class="section-number">6.2.2.3. </span><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="Link to this heading"></a></h3>
-<p>我们提供了一个示例 YAML 配置，位于 <code class="docutils literal notranslate"><span class="pre">scripts</span></code> 目录中，名为 <code class="docutils literal notranslate"><span class="pre">service_default.yaml</span></code>。</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">default_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">50</span>
-
-<span class="nt">services</span><span class="p">:</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_auto_white_balance</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_exposure</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_gain</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_exposure</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_gain</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_device_info</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetDeviceInfo</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/send_software_trigger</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_auto_white_balance</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_ae_roi</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_auto_exposure</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_exposure</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">30</span><span class="p p-Indicator">}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_flip</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
-<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_gain</span>
-<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
-<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">20</span><span class="p p-Indicator">}</span>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
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-<h1><span class="section-number">6.1. </span>介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<p>本节介绍性能基准测试工具，解释其目的、功能以及它可以帮助您测量的内容。</p>
-<section id="id2">
-<h2><span class="section-number">6.1.1. </span>通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">common_benchmark_node.py</span></code> 是一个用于监控在 ROS 环境中运行的 Orbbec 相机性能的工具。它实时收集和记录关键相机指标，如帧率、延迟、系统资源使用和丢包率，帮助用户评估相机节点的稳定性和性能（每秒更新一次）。</p>
-<p><strong>功能</strong></p>
-<ul class="simple">
-<li><p>测量发布的图像帧率和延迟（当前、最小、最大、平均）</p></li>
-<li><p>监控相机节点的 CPU/ARM 使用率（当前、最小、最大、平均）</p></li>
-<li><p>跟踪丢帧率（发布者）和丢包率（订阅者）</p></li>
-<li><p>将实时统计信息（1 Hz）打印到终端并将结果保存到 CSV 文件</p></li>
-<li><p>支持可配置的运行时长和 CSV 输出路径</p></li>
-</ul>
-<p><strong>示例</strong></p>
-<p>在 ROS1 中，可以测量丢帧率和丢包率，而在 ROS2 中，header 缺少 <code class="docutils literal notranslate"><span class="pre">seq</span></code> 字段，因此仅计算发布者端的丢帧率。</p>
-<p><img alt="common_benchmark_ros1" src="../../_images/common_benchmark_ros1.png" /></p>
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-<h2><span class="section-number">6.1.2. </span>服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p><code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 工具用于监控服务调用的性能。它可以测量服务调用的成功率和执行服务所需的时间。</p>
-<p><strong>功能</strong></p>
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-<li><p>可选择将基准测试结果保存到 CSV 文件</p></li>
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-<p><strong>示例</strong></p>
-<p><img alt="service benchmark" src="../../_images/service_benchmark.png" /></p>
-<p>当您需要收集多个服务的数据时，建议使用 CSV 文件进行分析。</p>
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-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
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-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">6.4. </span>其他工具<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
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-<div><p>此工具的目标是对各种 OrbbecSDK_ROS2 相机配置的性能进行基准测试。基准测试结果取决于使用的相机和设置。（目前仅适用于 ROS2 Humble）</p>
-</div></blockquote>
-<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
-<section id="start-benchmark-params-json">
-<h3><span class="section-number">6.4.1.1. </span>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="Link to this heading"></a></h3>
-<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
-<span class="w">    </span><span class="nt">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
-<span class="w">        </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
-<span class="w">            </span><span class="s2">&quot;camera_01&quot;</span><span class="p">,</span>
-<span class="w">            </span><span class="s2">&quot;camera_02&quot;</span><span class="p">,</span>
-<span class="w">            </span><span class="s2">&quot;camera_03&quot;</span><span class="p">,</span>
-<span class="w">            </span><span class="s2">&quot;camera_04&quot;</span>
-<span class="w">        </span><span class="p">],</span>
-<span class="w">        </span><span class="nt">&quot;process_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;component_conta&quot;</span><span class="p">,</span>
-<span class="w">        </span><span class="nt">&quot;switch_cycle&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">300</span><span class="p">,</span>
-<span class="w">        </span><span class="nt">&quot;test_cycle&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
-<span class="w">        </span><span class="nt">&quot;skip_number&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
-<span class="w">    </span><span class="p">}</span>
-<span class="p">}</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>：要配置的相机名称。例如：<code class="docutils literal notranslate"><span class="pre">&quot;camera_01&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;camera_02&quot;</span></code> 等。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">process_name</span></code>：要监控的进程名称。例如，<code class="docutils literal notranslate"><span class="pre">&quot;component_conta&quot;</span></code> 将监控容器进程的数据。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">switch_cycle</span></code>：切换配置的周期时间，以秒为单位。例如，设置为 <code class="docutils literal notranslate"><span class="pre">300</span></code> 意味着配置将每 300 秒切换一次。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">test_cycle</span></code>：测试周期，以秒为单位。例如，设置为 <code class="docutils literal notranslate"><span class="pre">1</span></code> 意味着工具将每 1 秒收集一次监控进程的数据。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">skip_number</span></code>：要跳过的数据点数量。例如，设置为 <code class="docutils literal notranslate"><span class="pre">30</span></code> 意味着将忽略前 30 个数据点。</p></li>
-</ul>
-</section>
-<section id="id2">
-<h3><span class="section-number">6.4.1.2. </span>相机配置（启动文件）<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
-<p>在 launch 文件夹中，有多个 .launch.py 文件（<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>、...、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>）。每个文件对应不同的相机配置。</p>
-</section>
-<section id="id3">
-<h3><span class="section-number">6.4.1.3. </span>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
-<p>要运行该工具，请使用以下命令：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
-ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
-</pre></div>
-</div>
-</section>
-<section id="id4">
-<h3><span class="section-number">6.4.1.4. </span>输出数据文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
-<p>输出数据文件将存储在 ob_benchmark 文件夹中，文件名如 <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>、<code class="docutils literal notranslate"><span class="pre">1.csv</span></code>、...、19.csv。例如：</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> 包含来自 <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> 配置的数据。</p></li>
-<li><p><code class="docutils literal notranslate"><span class="pre">1.csv</span></code> 包含来自 <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code> 配置的数据。</p></li>
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-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l2 current"><a class="current reference internal" href="#">7.2. 构建 Debian 软件包</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">7.2. </span>构建 Debian 软件包<a class="headerlink" href="#debian" title="Link to this heading"></a></h1>
-<section id="id1">
-<h2><span class="section-number">7.2.1. </span>准备环境<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p>在开始之前，安装所需的工具：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>debhelper<span class="w"> </span>fakeroot<span class="w"> </span>python3-bloom
-</pre></div>
-</div>
-</section>
-<section id="ros">
-<h2><span class="section-number">7.2.2. </span>配置 ROS 依赖项<a class="headerlink" href="#ros" title="Link to this heading"></a></h2>
-<p>在系统中的 <code class="docutils literal notranslate"><span class="pre">/etc/ros/rosdep/sources.list.d/00-orbbec.yaml</span></code> 添加以下 YAML 文件。确保将 <code class="docutils literal notranslate"><span class="pre">focal</span></code> 替换为您的 Ubuntu 版本的代号，将 <code class="docutils literal notranslate"><span class="pre">humble</span></code> 替换为您的 ROS2 发行版名称：</p>
-<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">orbbec_camera_msgs</span><span class="p">:</span>
-<span class="w">  </span><span class="nt">ubuntu</span><span class="p">:</span>
-<span class="w">    </span><span class="nt">focal</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="w"> </span><span class="nv">ros-humble-orbbec-camera-msgs</span><span class="w"> </span><span class="p p-Indicator">]</span>
-</pre></div>
-</div>
-<p>接下来，创建一个新文件 <code class="docutils literal notranslate"><span class="pre">/etc/ros/rosdep/sources.list.d/50-orbbec.list</span></code> 并添加此行以指定 YAML 文件的路径：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>yaml<span class="w"> </span>file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml
-</pre></div>
-</div>
-<p>更新 rosdep 数据库以反映这些更改：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
-</pre></div>
-</div>
-</section>
-<section id="id2">
-<h2><span class="section-number">7.2.3. </span>构建软件包<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>导航到您的工作空间并构建项目：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
-colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
-.<span class="w"> </span>install/setup.bash
-<span class="nb">cd</span><span class="w"> </span>src/OrbbecSDK_ROS2/
-bash<span class="w"> </span>.make_deb.sh
-</pre></div>
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-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
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-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
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-</ul>
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-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
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-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
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-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
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-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
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-<li class="toctree-l1 current"><a class="reference internal" href="developer_guide.html">7. 开发者指南</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
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-<h1><span class="section-number">7.1. </span>从 main 分支迁移到开源 v2-main 分支<a class="headerlink" href="#main-v2-main" title="Link to this heading"></a></h1>
-<section id="id1">
-<h2><span class="section-number">7.1.1. </span>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p>最初，奥比中光提供了一个<strong>闭源 SDK — Orbbec SDK v1</strong>，它构成了 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main 分支</a>的基础。虽然 ROS 封装层本身是开源的，但它依赖于闭源的底层 SDK。这种架构限制了灵活性，阻碍了社区驱动的改进。</p>
-<p>随着开发者越来越需要透明性、可维护性和更广泛的设备支持，奥比中光发布了全新的开源 v2-main <strong>— Orbbec SDK_v2</strong> (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub 链接</a>)。基于此 SDK，<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 的开源 v2-main 分支</a>现在完全开源，提供了更好的可扩展性，并与奥比中光未来的产品路线图保持一致。</p>
-<p>本文档介绍了将 ROS 包从 main 分支（基于 SDK v1）迁移到 v2-main 分支（基于 Orbbec SDK_v2）的动机和好处。它重点介绍了<strong>启动文件、参数、话题和服务</strong>的主要差异，并提供迁移指南帮助开发者顺利过渡。</p>
-<p><strong>注意：</strong> 在以下内容中，<strong>main</strong> 指闭源分支，而 <strong>v2-main</strong> 指开源 v2-main 分支。</p>
-</section>
-<section id="id2">
-<h2><span class="section-number">7.1.2. </span>从 main 迁移到 v2-main 的优势<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>2024年10月，奥比中光发布了重大更新：<strong>OrbbecSDK ROS2 Wrapper v2</strong>，它完全基于开源的 Orbbec SDK_v2。与传统的 main 分支（SDK v1.x）相比，v2-main 分支（Orbbec SDK_v2.x）提供了更大的灵活性和可扩展性，同时为所有符合 UVC 标准的奥比中光 USB 产品提供全面支持。从 main --&gt; v2-main 的迁移带来以下关键优势：</p>
-<section id="id3">
-<h3><span class="section-number">7.1.2.1. </span><strong>全面的设备支持</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
-<p>v2-main 分支支持所有符合 UVC 标准的奥比中光 USB 相机，并将成为支持所有新发布设备的主要平台。</p>
-</section>
-<section id="id4">
-<h3><span class="section-number">7.1.2.2. </span><strong>透明性和可扩展性</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
-<p>Orbbec SDK_v2 完全开源，允许开发者直接访问底层实现，便于调试、优化和二次开发。相比之下，SDK v1 是闭源的，引入了&quot;黑盒&quot;约束。</p>
-</section>
-<section id="id5">
-<h3><span class="section-number">7.1.2.3. </span>维护和更新优势<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
-<p>v2-main 分支提供全功能支持，包括新功能开发、性能优化和错误修复。main 分支已进入仅维护模式，只有关键错误可能获得有限更新，不再开发新功能。</p>
-</section>
-<section id="id6">
-<h3><span class="section-number">7.1.2.4. </span><strong>社区和生态系统支持</strong><a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
-<p>有了开源 SDK，开发者可以直接在 GitHub 或 Gitee 上提交问题和拉取请求，为功能演进做出贡献。这不仅加速了问题解决，还促进了更开放和活跃的奥比中光生态系统。</p>
-</section>
-</section>
-<section id="id7">
-<h2><span class="section-number">7.1.3. </span>main 和 v2-main 分支的比较<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
-<section id="id8">
-<h3><span class="section-number">7.1.3.1. </span><strong>启动文件差异</strong><a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
-<ol class="simple">
-<li><p>在 v2-main 中，为 Gemini 330 系列添加了新的低功耗启动文件：</p>
-<ul class="simple">
-<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_low_cpu.launch.py</span></code></p></li>
-</ul>
-</li>
-<li><p>v2-main 引入了对 <strong>Gemini 435Le</strong>、<strong>Gemini 345</strong> 和 <strong>Gemini 345Lg</strong> 相机的支持。</p></li>
-<li><p>由于 <strong>OrbbecSDK_v2 仅支持 UVC 设备</strong>，v2-main 中支持的相机型号范围比 main 略窄。详细信息见下表。</p></li>
-</ol>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>相机</strong></th>
-<th><strong>main</strong></th>
-<th><strong>v2-main</strong></th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>Gemini 435Le</td>
-<td>不支持</td>
-<td>gemini435_le.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 345</td>
-<td>不支持</td>
-<td>gemini345.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 345Lg</td>
-<td>不支持</td>
-<td>gemini345_lg.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 330 系列</td>
-<td>gemini_330_series.launch.py</td>
-<td>gemini_330_series.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 330 低CPU</td>
-<td>-</td>
-<td>gemini_330_series_low_cpu.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 210</td>
-<td>gemini210.launch.py</td>
-<td>gemini210.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 2</td>
-<td>gemini2.launch.py</td>
-<td>gemini2.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 2L</td>
-<td>gemini2L.launch.py</td>
-<td>gemini2.launch.py</td>
-</tr>
-<tr>
-<td>Gemini 2XL</td>
-<td>gemini2XL.launch.py</td>
-<td>-</td>
-</tr>
-<tr>
-<td>Femto Bolt</td>
-<td>femto_bolt.launch.py</td>
-<td>femto_bolt.launch.py</td>
-</tr>
-<tr>
-<td>Femto Mega</td>
-<td>femto_mega.launch.py</td>
-<td>femto_mega.launch.py</td>
-</tr>
-<tr>
-<td>Femto</td>
-<td>femto.launch.py</td>
-<td>femto.launch.py</td>
-</tr>
-<tr>
-<td>Astra 2</td>
-<td>astra2.launch.py</td>
-<td>astra2.launch.py</td>
-</tr>
-<tr>
-<td>Astra</td>
-<td>astra.launch.py</td>
-<td>astra.launch.py</td>
-</tr>
-<tr>
-<td>Astra Mini Pro / S Pro</td>
-<td>astra_mini_pro.launch.py ...</td>
-<td>astra.launch.py</td>
-</tr>
-<tr>
-<td>多相机（同步）</td>
-<td>multi_camera_synced.launch.py</td>
-<td>multi_camera_synced.launch.py</td>
-</tr>
-<tr>
-<td>多相机（通用/通用）</td>
-<td>multi_camera.launch.py</td>
-<td>multi_camera.launch.py 或 orbbec_multicamera.launch.py</td>
-</tr>
-<tr>
-<td>单相机通用启动</td>
-<td>ob_camera.launch.py</td>
-<td>orbbec_camera.launch.py</td>
-</tr>
-<tr>
-<td>OpenNI 设备（大白、得雅）</td>
-<td>对应型号独立文件</td>
-<td>不支持</td>
-</tr>
-</tbody>
-</table></section>
-<section id="id9">
-<h3><span class="section-number">7.1.3.2. </span><strong>参数差异</strong><a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
-<p><strong>v2-main 中的新参数（main 中不可用）</strong></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>参数名称</strong></th>
-<th><strong>main</strong></th>
-<th><strong>v2-main</strong></th>
-<th><strong>描述</strong></th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>upgrade_firmware</td>
-<td>-</td>
-<td>已添加</td>
-<td>固件升级路径</td>
-</tr>
-<tr>
-<td>preset_firmware_path</td>
-<td>-</td>
-<td>已添加</td>
-<td>预设固件文件路径</td>
-</tr>
-<tr>
-<td>load_config_json_file_path</td>
-<td>-</td>
-<td>已添加</td>
-<td>加载 JSON 配置</td>
-</tr>
-<tr>
-<td>export_config_json_file_path</td>
-<td>-</td>
-<td>已添加</td>
-<td>导出 JSON 配置</td>
-</tr>
-<tr>
-<td>uvc_backend</td>
-<td>-</td>
-<td>已添加</td>
-<td>libuvc / v4l2 后端选择</td>
-</tr>
-<tr>
-<td>enable_color_auto_exposure_priority</td>
-<td>-</td>
-<td>已添加</td>
-<td>AE 优先级控制</td>
-</tr>
-<tr>
-<td>color_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>彩色图像垂直翻转</td>
-</tr>
-<tr>
-<td>color_mirror</td>
-<td>-</td>
-<td>已添加</td>
-<td>彩色图像水平镜像</td>
-</tr>
-<tr>
-<td>depth_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>深度图像垂直翻转</td>
-</tr>
-<tr>
-<td>depth_mirror</td>
-<td>-</td>
-<td>已添加</td>
-<td>深度图像水平镜像</td>
-</tr>
-<tr>
-<td>left_ir_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外垂直翻转</td>
-</tr>
-<tr>
-<td>left_ir_mirror</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外水平镜像</td>
-</tr>
-<tr>
-<td>right_ir_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外垂直翻转</td>
-</tr>
-<tr>
-<td>right_ir_mirror</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外水平镜像</td>
-</tr>
-<tr>
-<td>enable_left_ir_sequence_id_filter</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外序列 ID 滤波器</td>
-</tr>
-<tr>
-<td>enable_right_ir_sequence_id_filter</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外序列 ID 滤波器</td>
-</tr>
-<tr>
-<td>enable_accel_data_correction</td>
-<td>-</td>
-<td>已添加</td>
-<td>加速度计数据校正</td>
-</tr>
-<tr>
-<td>enable_gyro_data_correction</td>
-<td>-</td>
-<td>已添加</td>
-<td>陀螺仪数据校正</td>
-</tr>
-<tr>
-<td>enumerate_net_device</td>
-<td>-</td>
-<td>已添加</td>
-<td>自动枚举网络设备</td>
-</tr>
-<tr>
-<td>net_device_ip</td>
-<td>-</td>
-<td>已添加</td>
-<td>网络设备 IP 地址</td>
-</tr>
-<tr>
-<td>net_device_port</td>
-<td>-</td>
-<td>已添加</td>
-<td>网络设备端口</td>
-</tr>
-<tr>
-<td>exposure_range_mode</td>
-<td>-</td>
-<td>已添加</td>
-<td>曝光范围模式：default / ultimate / regular</td>
-</tr>
-<tr>
-<td>disparity_to_depth_mode</td>
-<td>-</td>
-<td>已添加</td>
-<td>硬件视差到深度转换</td>
-</tr>
-<tr>
-<td>ldp_power_level</td>
-<td>-</td>
-<td>已添加</td>
-<td>LDP 功率级别</td>
-</tr>
-<tr>
-<td>time_sync_period</td>
-<td>-</td>
-<td>已添加</td>
-<td>时间同步周期</td>
-</tr>
-<tr>
-<td>gmsl_trigger_fps</td>
-<td>-</td>
-<td>已添加</td>
-<td>GMSL 触发帧率</td>
-</tr>
-<tr>
-<td>enable_gmsl_trigger</td>
-<td>-</td>
-<td>已添加</td>
-<td>GMSL 触发启用</td>
-</tr>
-<tr>
-<td>disparity_range_mode</td>
-<td>-</td>
-<td>已添加</td>
-<td>视差范围模式</td>
-</tr>
-<tr>
-<td>disparity_search_offset</td>
-<td>-</td>
-<td>已添加</td>
-<td>视差搜索偏移</td>
-</tr>
-<tr>
-<td>disparity_offset_config</td>
-<td>-</td>
-<td>已添加</td>
-<td>视差偏移配置</td>
-</tr>
-<tr>
-<td>offset_index0</td>
-<td>-</td>
-<td>已添加</td>
-<td>视差偏移索引 0</td>
-</tr>
-<tr>
-<td>offset_index1</td>
-<td>-</td>
-<td>已添加</td>
-<td>视差偏移索引 1</td>
-</tr>
-<tr>
-<td>interleave_ae_mode</td>
-<td>-</td>
-<td>已添加</td>
-<td>AE 交错模式</td>
-</tr>
-<tr>
-<td>interleave_frame_enable</td>
-<td>-</td>
-<td>已添加</td>
-<td>交错帧启用</td>
-</tr>
-<tr>
-<td>interleave_skip_enable</td>
-<td>-</td>
-<td>已添加</td>
-<td>跳过红外帧启用</td>
-</tr>
-<tr>
-<td>interleave_skip_index</td>
-<td>-</td>
-<td>已添加</td>
-<td>跳过红外帧索引</td>
-</tr>
-<tr>
-<td>hdr_index1_laser_control</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 激光控制参数</td>
-</tr>
-<tr>
-<td>hdr_index1_depth_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 深度曝光</td>
-</tr>
-<tr>
-<td>hdr_index1_depth_gain</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 深度增益</td>
-</tr>
-<tr>
-<td>hdr_index1_ir_brightness</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 红外亮度</td>
-</tr>
-<tr>
-<td>hdr_index1_ir_ae_max_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 红外最大 AE</td>
-</tr>
-<tr>
-<td>hdr_index0_laser_control</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 激光控制参数</td>
-</tr>
-<tr>
-<td>hdr_index0_depth_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 深度曝光</td>
-</tr>
-<tr>
-<td>hdr_index0_depth_gain</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 深度增益</td>
-</tr>
-<tr>
-<td>hdr_index0_ir_brightness</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 红外亮度</td>
-</tr>
-<tr>
-<td>hdr_index0_ir_ae_max_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>HDR 红外最大 AE</td>
-</tr>
-<tr>
-<td>laser_index1_laser_control</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光交错控制</td>
-</tr>
-<tr>
-<td>laser_index1_depth_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光深度曝光</td>
-</tr>
-<tr>
-<td>laser_index1_depth_gain</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光深度增益</td>
-</tr>
-<tr>
-<td>laser_index1_ir_brightness</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光红外亮度</td>
-</tr>
-<tr>
-<td>laser_index1_ir_ae_max_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光红外最大 AE</td>
-</tr>
-<tr>
-<td>laser_index0_laser_control</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光交错控制</td>
-</tr>
-<tr>
-<td>laser_index0_depth_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光深度曝光</td>
-</tr>
-<tr>
-<td>laser_index0_depth_gain</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光深度增益</td>
-</tr>
-<tr>
-<td>laser_index0_ir_brightness</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光红外亮度</td>
-</tr>
-<tr>
-<td>laser_index0_ir_ae_max_exposure</td>
-<td>-</td>
-<td>已添加</td>
-<td>激光红外最大 AE</td>
-</tr>
-<tr>
-<td>software_trigger_enabled</td>
-<td>-</td>
-<td>已添加</td>
-<td>软件触发启用</td>
-</tr>
-<tr>
-<td>enable_ptp_config</td>
-<td>-</td>
-<td>已添加</td>
-<td>PTP 配置（Gemini 335Le）</td>
-</tr>
-<tr>
-<td>align_target_stream</td>
-<td>-</td>
-<td>已添加</td>
-<td>对齐目标流</td>
-</tr>
-<tr>
-<td>spatial_fast_filter_radius</td>
-<td>-</td>
-<td>已添加</td>
-<td>快速空间滤波器半径</td>
-</tr>
-<tr>
-<td>spatial_moderate_filter_diff_threshold</td>
-<td>-</td>
-<td>已添加</td>
-<td>中等空间滤波器差异阈值</td>
-</tr>
-<tr>
-<td>spatial_moderate_filter_magnitude</td>
-<td>-</td>
-<td>已添加</td>
-<td>中等空间滤波器幅度</td>
-</tr>
-<tr>
-<td>spatial_moderate_filter_radius</td>
-<td>-</td>
-<td>已添加</td>
-<td>中等空间滤波器半径</td>
-</tr>
-<tr>
-<td>color.image_raw.enable_pub_plugins</td>
-<td>-</td>
-<td>已添加</td>
-<td>彩色图像传输插件</td>
-</tr>
-<tr>
-<td>depth.image_raw.enable_pub_plugins</td>
-<td>-</td>
-<td>已添加</td>
-<td>深度图像传输插件</td>
-</tr>
-<tr>
-<td>left_ir.image_raw.enable_pub_plugins</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外传输插件</td>
-</tr>
-<tr>
-<td>right_ir.image_raw.enable_pub_plugins</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外传输插件</td>
-</tr>
-<tr>
-<td>force_ip_enable</td>
-<td>-</td>
-<td>已添加</td>
-<td>强制 IP 功能</td>
-</tr>
-<tr>
-<td>force_ip_mac</td>
-<td>-</td>
-<td>已添加</td>
-<td>强制 IP MAC 地址</td>
-</tr>
-<tr>
-<td>force_ip_dhcp</td>
-<td>-</td>
-<td>已添加</td>
-<td>DHCP 自动分配</td>
-</tr>
-<tr>
-<td>force_ip_address</td>
-<td>-</td>
-<td>已添加</td>
-<td>强制 IP 静态地址</td>
-</tr>
-<tr>
-<td>force_ip_subnet_mask</td>
-<td>-</td>
-<td>已添加</td>
-<td>强制 IP 子网掩码</td>
-</tr>
-<tr>
-<td>force_ip_gateway</td>
-<td>-</td>
-<td>已添加</td>
-<td>强制 IP 网关</td>
-</tr>
-</tbody>
-</table><p><strong>已移除参数（仅 main 有，v2-main 中已移除）</strong></p>
-<table border="1" class="docutils">
-<thead>
-<tr>
-<th><strong>参数</strong></th>
-<th><strong>描述</strong></th>
-</tr>
-</thead>
-<tbody>
-<tr>
-<td>enable_3d_reconstruction_mode</td>
-<td>3D 重建模式已弃用</td>
-</tr>
-<tr>
-<td>enable_hardware_reset</td>
-<td>硬件重置接口已弃用</td>
-</tr>
-<tr>
-<td>enable_hardware_noise_removal_filter</td>
-<td>硬件噪声去除滤波器已弃用</td>
-</tr>
-<tr>
-<td>laser_on_off_mode</td>
-<td>旧激光开关接口，由 interleave / laser_index 替换</td>
-</tr>
-<tr>
-<td>enable_3d_reconstruction_mode</td>
-<td>3D 重建模式重复；v2-main 中不再使用</td>
-</tr>
-<tr>
-<td>device_preset</td>
-<td>部分逻辑迁移到新固件 / 交错参数</td>
-</tr>
-<tr>
-<td>enable_trigger_out</td>
-<td>旧软件触发接口由 software_trigger_enabled 替换</td>
-</tr>
-<tr>
-<td>retry_on_usb3_detection_failure</td>
-<td>可选；v2-main 中逻辑已调整或移除</td>
-</tr>
-<tr>
-<td>enable_color_undistortion</td>
-<td>旧接口逻辑集成到其他地方；v2-main 中仍存在但使用可能已调整</td>
-</tr>
-</tbody>
-</table></section>
-<section id="id10">
-<h3><span class="section-number">7.1.3.3. </span><strong>话题差异</strong><a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
-<p><strong>v2-main</strong> 在 main 基础上添加了以下话题：</p>
-<table border="1" class="docutils">
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-<th><strong>话题</strong></th>
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-</thead>
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-<td>/camera/device_status</td>
-<td>-</td>
-<td>已添加</td>
-<td>发布设备状态（帧率延迟、设备连接状态等）</td>
-</tr>
-</tbody>
-</table></section>
-<section id="id11">
-<h3><span class="section-number">7.1.3.4. </span><strong>服务差异</strong><a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
-<p><strong>v2-main</strong> 在 main 基础上添加了以下服务：</p>
-<table border="1" class="docutils">
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-<tr>
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-<tr>
-<td>get_ptp_config</td>
-<td>-</td>
-<td>已添加</td>
-<td>获取 PTP 配置</td>
-</tr>
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-<td>set_ptp_config</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置 PTP 配置</td>
-</tr>
-<tr>
-<td>get_streams_enable</td>
-<td>-</td>
-<td>已添加</td>
-<td>获取每个流的启用状态</td>
-</tr>
-<tr>
-<td>set_streams_enable</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置每个流的启用状态</td>
-</tr>
-<tr>
-<td>get_user_calib_params</td>
-<td>-</td>
-<td>已添加</td>
-<td>获取用户校准参数</td>
-</tr>
-<tr>
-<td>set_user_calib_params</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置用户校准参数</td>
-</tr>
-<tr>
-<td>read_customer_data</td>
-<td>-</td>
-<td>已添加</td>
-<td>读取用户存储的自定义数据</td>
-</tr>
-<tr>
-<td>write_customer_data</td>
-<td>-</td>
-<td>已添加</td>
-<td>写入用户存储的自定义数据</td>
-</tr>
-<tr>
-<td>send_software_trigger</td>
-<td>-</td>
-<td>已添加</td>
-<td>发送软件触发</td>
-</tr>
-<tr>
-<td>set_color_ae_roi</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置彩色图像的 AE ROI</td>
-</tr>
-<tr>
-<td>set_depth_ae_roi</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置深度图像的 AE ROI</td>
-</tr>
-<tr>
-<td>set_color_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置彩色图像垂直翻转</td>
-</tr>
-<tr>
-<td>set_depth_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置深度图像垂直翻转</td>
-</tr>
-<tr>
-<td>set_color_rotation</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置彩色图像旋转</td>
-</tr>
-<tr>
-<td>set_depth_rotation</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置深度图像旋转</td>
-</tr>
-<tr>
-<td>set_left_ir_ae_roi</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置左红外的 AE ROI</td>
-</tr>
-<tr>
-<td>set_right_ir_ae_roi</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置右红外的 AE ROI</td>
-</tr>
-<tr>
-<td>set_left_ir_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外垂直翻转</td>
-</tr>
-<tr>
-<td>set_right_ir_flip</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外垂直翻转</td>
-</tr>
-<tr>
-<td>set_left_ir_rotation</td>
-<td>-</td>
-<td>已添加</td>
-<td>左红外旋转</td>
-</tr>
-<tr>
-<td>set_right_ir_rotation</td>
-<td>-</td>
-<td>已添加</td>
-<td>右红外旋转</td>
-</tr>
-<tr>
-<td>set_reset_timestamp</td>
-<td>-</td>
-<td>已添加</td>
-<td>重置时间戳</td>
-</tr>
-<tr>
-<td>set_sync_hosttime</td>
-<td>-</td>
-<td>已添加</td>
-<td>同步主机时间</td>
-</tr>
-<tr>
-<td>set_sync_interleaverlaser</td>
-<td>-</td>
-<td>已添加</td>
-<td>交错激光同步</td>
-</tr>
-<tr>
-<td>set_filter</td>
-<td>-</td>
-<td>已添加</td>
-<td>设置深度/点云滤波器</td>
-</tr>
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-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="current reference internal" href="#">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
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-           <div itemprop="articleBody">
-             
-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">8. </span>常见问题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
-<section id="id2">
-<h2><span class="section-number">8.1. </span>意外崩溃<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
-<p>如果相机节点意外崩溃，它将在当前运行目录中生成崩溃日志：<code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>。请将此日志发送给支持团队或提交到GitHub issue以获得进一步帮助。</p>
-</section>
-<section id="id3">
-<h2><span class="section-number">8.2. </span>多相机无数据流<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
-<p><strong>电源供应不足</strong>：</p>
-<ul class="simple">
-<li><p>确保每个相机连接到单独的集线器。</p></li>
-<li><p>使用有源集线器为每个相机提供足够的电力。</p></li>
-</ul>
-<p><strong>高分辨率</strong>：</p>
-<ul class="simple">
-<li><p>尝试降低分辨率以解决数据流问题。</p></li>
-</ul>
-<p><strong>增加usbfs_memory_mb值</strong>：</p>
-<ul class="simple">
-<li><p>通过运行以下命令将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到128MB（这是参考值，可根据系统需求调整）：</p></li>
-</ul>
-<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="n">echo</span> <span class="mi">128</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
-</pre></div>
-</div>
-<ul class="simple">
-<li><p>要使此更改永久生效，请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
-</ul>
-</section>
-<section id="id4">
-<h2><span class="section-number">8.3. </span>其他故障排除<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>如果遇到其他问题，将 <code class="docutils literal notranslate"><span class="pre">log_level</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>。这将在运行目录中生成SDK日志文件：<code class="docutils literal notranslate"><span class="pre">Log/OrbbecSDK.log.txt</span></code>。请将此文件提供给支持团队以获得进一步帮助。</p></li>
-<li><p>如果需要固件日志，将 <code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 以激活此功能。</p></li>
-</ul>
-</section>
-<section id="id5">
-<h2><span class="section-number">8.4. </span>为什么有这么多启动文件？<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
-<ul class="simple">
-<li><p>不同的相机具有不同的默认分辨率和图像格式。</p></li>
-<li><p>为简化使用，每个相机都有自己的启动文件。</p></li>
-</ul>
-</section>
-<section id="id6">
-<h2><span class="section-number">8.5. </span>多相机连接时如何指定启动某一个相机<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
-<p>如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。</p>
-<p>可以先通过以下命令查看设备序列号：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
-</pre></div>
-</div>
-<p>然后在启动时显式指定序列号，例如：</p>
-<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_bolt.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>CL8H741005J
-</pre></div>
-</div>
-</section>
-<section id="id7">
-<h2><span class="section-number">8.6. </span>多相机启动或切换流时为什么需要设置延迟？<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
-<p>多相机系统对带宽和设备初始化时序要求较高。如果在同一时间启动或切换多个相机流，可能会引发带宽瞬时拥塞，进而导致设备初始化失败、流启动异常或丢帧等问题。为确保系统稳定性，建议注意以下几点：</p>
-<ul>
-<li><p><strong>多相机启动阶段</strong></p>
-<p>在启动多个相机时，建议在每个相机启动之间增加适当的延迟（例如 <strong>2s</strong>），以避免瞬时带宽过载或底层设备初始化冲突。</p>
-</li>
-<li><p><strong>流开关与模式切换阶段</strong></p>
-<p>在调用开关流相关服务（如 <code class="docutils literal notranslate"><span class="pre">set_streams_enable</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_depth</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_color</span></code>）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 <strong>20 ms</strong>），以保证流状态切换的可靠性。</p>
-</li>
-</ul>
-<p>遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。</p>
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+<li><a class="reference internal" href="#">引言</a><ul>
+<li><a class="reference internal" href="#id2">支持的硬件产品</a></li>
+<li><a class="reference internal" href="#orbbec">Orbbec 相机规格书</a></li>
+<li><a class="reference internal" href="#id3">支持的平台</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+            <a href="../../../_sources/source/camera_devices/1_overview/introduction.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它支持 ROS2 Foxy、Humble 和 Jazzy 发行版。</p>
+<p>默认推荐使用 <strong>v2-main</strong> 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 <strong>main</strong> 分支。仅由 main 分支支持的设备型号列在下表中。</p>
+<p>如果您是中国用户，推荐使用 <a class="reference external" href="https://gitee.com/orbbecdeveloper/OrbbecSDK_ROS2">gitee 仓库</a>。</p>
+<p>下面是 main 分支 (v1.x) 与 v2-main 分支 (v2.x) 的设备支持列表：</p>
+<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
+  <thead>
+    <tr style="background-color: #1f4e78; color: white; text-align: center;">
+      <th>产品系列</th>
+      <th>产品</th>
+      <th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">main 分支</a></th>
+      <th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">v2-main 分支</a></th>
+    </tr>
+  </thead>
+  <tbody>
+      <tr>
+      <td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
+      <td>Gemini 435Le</td>
+      <td>not supported</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
+      <td>Gemini 335Le</td>
+      <td>not supported</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 335</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 336</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 330</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 335L</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 336L</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 330L</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 335Lg</td>
+      <td>not supported</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td rowspan="5" style="text-align: center; font-weight: bold;">Gemini 2</td>
+      <td>Gemini 2</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 2 L</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 2 XL</td>
+      <td>recommended for new designs</td>
+      <td>to be supported</td>
+    </tr>
+    <tr>
+      <td>Gemini 215</td>
+      <td>not supported</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Gemini 210</td>
+      <td>not supported</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
+      <td>Femto Bolt</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Femto Mega</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Femto Mega I</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
+      <td>Astra 2</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+    <tr>
+      <td>Astra+</td>
+      <td>limited maintenance</td>
+      <td>not supported</td>
+    </tr>
+    <tr>
+      <td>Astra Pro Plus</td>
+      <td>limited maintenance</td>
+      <td>not supported</td>
+    </tr>
+    <tr>
+      <td style="text-align: center; font-weight: bold;">Astra Mini</td>
+      <td>Astra Mini (S) Pro</td>
+      <td>full maintenance</td>
+      <td>recommended for new designs</td>
+    </tr>
+  </tbody>
+</table><p><strong>注意</strong>: 如果未找到您的设备，请联系我们的 FAE 或销售代表获取帮助。</p>
+<p><strong>术语定义</strong>:</p>
+<ol class="simple">
+<li><p>建议用于新设计：我们将提供完整支持，包括新特性、缺陷修复与性能优化；</p></li>
+<li><p>完整维护：我们将提供缺陷修复支持；</p></li>
+<li><p>限制维护：我们仅提供关键缺陷修复支持；</p></li>
+<li><p>不支持：当前版本不支持该设备；</p></li>
+<li><p>即将支持：近期将添加支持。</p></li>
+</ol>
+<section id="id2">
+<h2>支持的硬件产品<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>以下设备由 OrbbecSDK ROS2 封装 v2-main 分支支持。后续将增加更多设备支持。如果您在下表中未找到设备，请尝试 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">main</a> 分支。</p>
+<p>为获得最佳性能，强烈建议升级到最新固件版本，以确保获得最新的改进与缺陷修复。</p>
+<p>关于如何获取与升级最新固件，<a class="reference internal" href="../3_quickstarts/orbbecviewer.html"><span class="doc">请点击这里</span></a>。</p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>产品列表</strong></th>
+<th><strong>推荐固件版本</strong></th>
+<th><strong>启动文件</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>Astra Mini Pro</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro">2.0.03</a></td>
+<td>astra.launch.py</td>
+</tr>
+<tr>
+<td>Astra Mini S Pro</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro">2.0.03</a></td>
+<td>astra.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 435Le</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.2</a></td>
+<td>gemini435_le.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 330 series</td>
+<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td>
+<td>gemini_330_series.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 215</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">1.0.9</a></td>
+<td>gemini210.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 210</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">1.0.9</a></td>
+<td>gemini210.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 2</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">1.4.98</a></td>
+<td>gemini2.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 2 L</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">1.5.2</a></td>
+<td>gemini2L.launch.py</td>
+</tr>
+<tr>
+<td>Femto Bolt</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">1.1.2</a></td>
+<td>femto_bolt.launch.py</td>
+</tr>
+<tr>
+<td>Femto Mega</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">1.3.1</a></td>
+<td>femto_mega.launch.py</td>
+</tr>
+<tr>
+<td>Femto Mega I</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">2.0.4</a></td>
+<td>femto_mega.launch.py</td>
+</tr>
+<tr>
+<td>Astra 2</td>
+<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
+<td>astra2.launch.py</td>
+</tr>
+</tbody>
+</table><p>所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。</p>
+</section>
+<section id="orbbec">
+<h2>Orbbec 相机规格书<a class="headerlink" href="#orbbec" title="Link to this heading"></a></h2>
+<p>更多信息请参考相机规格书。</p>
+<style>
+table {
+  border-collapse: collapse;
+  width: 100%;
+}
+th, td {
+  border: 1px solid #ccc;
+  padding: 8px;
+  text-align: left;
+  vertical-align: middle;
+}
+thead th {
+  background-color: #1f4e78;
+  color: white;
+  text-align: center;
+  vertical-align: middle;
+}
+</style><table>
+  <thead>
+    <tr>
+      <th>产品系列</th>
+      <th>产品</th>
+      <th>规格书</th>
+    </tr>
+  </thead>
+  <tbody>
+    <tr>
+      <td style="text-align: center;">Gemini 435Le</td>
+      <td>Gemini 435Le</td>
+      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le 规格书</a></td>
+    </tr>
+    <tr>
+      <td style="text-align: center;" rowspan="6">Gemini 330</td>
+      <td>Gemini 335</td>
+      <td rowspan="4"><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/04/22062452/Gemini-330-series-Datasheet-V1.6.pdf">Gemini 330 系列 USB 设备规格书</a></td>
+    </tr>
+    <tr><td>Gemini 336</td></tr>
+    <tr><td>Gemini 335L</td></tr>
+    <tr><td>Gemini 336L</td></tr>
+    <tr>
+      <td>Gemini 335Lg</td>
+      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2024/10/22030914/Gemini-335Lg-Datasheet-V1.0-241022.pdf">Gemini 330 系列 GMSL 设备规格书</a></td>
+    </tr>
+    <tr>
+      <td>Gemini 335Le</td>
+      <td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/03/24023151/Orbbec-Gemini-335Le-Datasheet-V1-2.pdf">Gemini 330 系列 以太网设备规格书</a></td>
+    </tr>
+    <tr>
+      <td style="text-align: center;" rowspan="3">Gemini 2</td>
+      <td>Gemini 2</td>
+      <td rowspan="2"><a href="https://xm917ch2uk.feishu.cn/file/Khxfb2vdioUghexIMqJcAyL3nXf">Orbbec Gemini 2 系列规格书</a></td>
+    </tr>
+    <tr><td>Gemini 2 L</td></tr>
+    <tr>
+      <td>Gemini 2 XL</td>
+      <td><a href="https://xm917ch2uk.feishu.cn/file/QW2vbNvwxoocRIxSL6Zcvut2npS">Orbbec Gemini 2 XL 规格书</a></td>
+    </tr>
+    <tr>
+      <td style="text-align: center;" rowspan="3">Femto</td>
+      <td>Femto Bolt</td>
+      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2024/08/ORBBEC_Datasheet_Femto-Bolt-v1.0.pdf">Orbbec Femto Bolt 规格书</a></td>
+    </tr>
+    <tr>
+      <td>Femto Mega</td>
+      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Femto-Mega1.pdf">Orbbec Femto Mega 规格书</a></td>
+    </tr>
+    <tr>
+      <td>Femto Mega I</td>
+      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/08/ORBBEC_Datasheet_Femto-Mega-I.pdf">Orbbec Femto Mega I 规格书</a></td>
+    </tr>
+    <tr>
+      <td style="text-align: center;" rowspan="3">Astra</td>
+      <td>Astra 2</td>
+      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-2_V1.2.pdf">Orbbec Astra 2 规格书</a></td>
+    </tr>
+    <tr>
+      <td>Astra+</td>
+      <td><a href="https://xm917ch2uk.feishu.cn/file/Qk0zbx26Doh8XMxw0rIcOgQYnff">Orbbec Astra+ 规格书</a></td>
+    </tr>
+    <tr>
+      <td>Astra Mini Pro</td>
+      <td><a href="https://d1cd332k3pgc17.cloudfront.net/wp-content/uploads/2023/04/ORBBEC_Datasheet_Astra-Mini-Pro-1.pdf">Orbbec Astra Mini Pro 规格书</a></td>
+    </tr>
+  </tbody>
+</table></section>
+<hr class="docutils" />
+<section id="id3">
+<h2>支持的平台<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Linux x64：已在 Ubuntu 22.04 上测试</p></li>
+<li><p>Linux ARM64：已在 NVIDIA Jetson AGX Orin、NVIDIA Jetson Orin NX、NVIDIA Jetson Orin Nano、NVIDIA Jetson AGX Xavier、NVIDIA Jetson Xavier NX 上测试</p></li>
+</ul>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
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+</footer>
+        </div>
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+    </section>
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+  <script>
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+          SphinxRtdTheme.Navigation.enable(true);
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+  </script> 
+
+</body>
+</html>
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diff --git a/zh/source/camera_devices/1_overview/orbbecsdk_overview.html b/zh/source/camera_devices/1_overview/orbbecsdk_overview.html
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@@ -0,0 +1,291 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>Orbbec SDK 概述 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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+</head>
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+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
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+            OrbbecSDK V2 ROS2 封装
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+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
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+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">Orbbec SDK 概述</a><ul>
+<li><a class="reference internal" href="#id1">术语</a></li>
+<li><a class="reference internal" href="#orbbec-sdk-v2">Orbbec SDK v2 架构概述</a></li>
+<li><a class="reference internal" href="#sdk">SDK 概念概述</a></li>
+<li><a class="reference internal" href="#id2">SDK 编程模型</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+      <li class="breadcrumb-item active">Orbbec SDK 概述</li>
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+            <a href="../../../_sources/source/camera_devices/1_overview/orbbecsdk_overview.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbec-sdk">
+<h1>Orbbec SDK 概述<a class="headerlink" href="#orbbec-sdk" title="Link to this heading"></a></h1>
+<p>本节介绍 C++ 版本的 Orbbec SDK。其架构和概念与 Python 包装器一致。</p>
+<section id="id1">
+<h2>术语<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th>序号</th>
+<th>名称</th>
+<th>说明</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>1</td>
+<td>USB</td>
+<td>通用串行总线（Universal Serial Bus）</td>
+</tr>
+<tr>
+<td>2</td>
+<td>UVC</td>
+<td>USB 视频类（USB Video Class）</td>
+</tr>
+<tr>
+<td>3</td>
+<td>Firmware</td>
+<td>3D 相机的固件</td>
+</tr>
+<tr>
+<td>4</td>
+<td>Disparity</td>
+<td>视差是指从两个有一定距离的点观察同一目标时的方向差异。</td>
+</tr>
+<tr>
+<td>5</td>
+<td>D2D (Disparity to depth)</td>
+<td>视差转深度是一种图像处理技术，用于将视差信息转换为深度信息。</td>
+</tr>
+<tr>
+<td>6</td>
+<td>Hardware D2D</td>
+<td>视差转深度在设备内部实现，不占用主机的计算能力。</td>
+</tr>
+<tr>
+<td>7</td>
+<td>Software D2D</td>
+<td>视差转深度，在 Orbbec SDK 中实现</td>
+</tr>
+<tr>
+<td>8</td>
+<td>Depth point cloud</td>
+<td>深度点云，三维世界坐标系中点的坐标，可以使用深度相机的内参转换为点云。</td>
+</tr>
+<tr>
+<td>9</td>
+<td>RGBD point cloud</td>
+<td>叠加了 RGB 信息的点云</td>
+</tr>
+<tr>
+<td>10</td>
+<td>D2C</td>
+<td>"深度到彩色"（Depth to Color）是一种对深度图像进行逐像素几何变换的功能。其结果是通过 D2C 变换将深度图像与其对应的彩色图像对齐，使我们能够通过在变换后的深度图像中使用相同图像坐标位置来定位彩色像素的深度信息。经过 D2C 变换后，我们生成一个与目标彩色图像大小相同的深度图像，其中图像内容表示彩色相机坐标系中的深度数据。换句话说，它重建了一个使用彩色相机的原点和尺寸"拍摄"的深度图像，其中每个像素与彩色相机的相应像素坐标匹配。</td>
+</tr>
+<tr>
+<td>11</td>
+<td>Hardware D2C</td>
+<td>硬件 D2C 是指在相机内部执行深度到彩色变换的功能，相机直接输出 D2C 变换的结果。</td>
+</tr>
+<tr>
+<td>12</td>
+<td>Software D2C</td>
+<td>使用 SDK 在主机端执行 D2C 计算。</td>
+</tr>
+<tr>
+<td>13</td>
+<td>Frame aggregation (FrameSet)</td>
+<td>帧聚合，将深度、红外和彩色帧组合成一个帧集（Frameset），并通过管道调用。</td>
+</tr>
+<tr>
+<td>14</td>
+<td>C2D</td>
+<td>"彩色到深度"（Color to Depth）是一种对彩色图像进行逐像素几何变换的功能。其结果是通过 C2D 变换将彩色图像与其对应的深度图像对齐。</td>
+</tr>
+<tr>
+<td>15</td>
+<td>MetaData</td>
+<td>帧元数据是一组参数（或属性），提供了帧生成时传感器配置和/或系统状态的快照。</td>
+</tr>
+<tr>
+<td>16</td>
+<td>HDR</td>
+<td>高动态范围（High Dynamic Range，HDR）成像允许成像系统在极暗和极亮的场景中拍摄图像。我们提出了一种在主机 CPU 上运行的软件解决方案来实现此功能。它利用两个连续帧的数据，直接合成这两个深度图像，从而增强 16 位深度图像的动态范围。</td>
+</tr>
+<tr>
+<td>17</td>
+<td>LDP</td>
+<td>激光近距离保护（Laser close-range protection）</td>
+</tr>
+</tbody>
+</table></section>
+<section id="orbbec-sdk-v2">
+<h2>Orbbec SDK v2 架构概述<a class="headerlink" href="#orbbec-sdk-v2" title="Link to this heading"></a></h2>
+<p><img alt="OrbbecSDK v2 软件架构" src="../../../_images/Soft_Architecture.png" /></p>
+<ul class="simple">
+<li><p>应用层（Application）</p></li>
+</ul>
+<p>OrbbecViewer、示例程序和用户应用程序实现。</p>
+<ul class="simple">
+<li><p>接口和封装层（Interfaces and Encapsulation Layer）</p></li>
+</ul>
+<p>OrbbecSDK 接口封装和包装器封装。</p>
+<ul class="simple">
+<li><p>高级层（High-level Layer）</p></li>
+</ul>
+<p>HighLevel 封装了核心业务组件，并使用管道（pipeline）向外部提供接口。</p>
+<ul class="simple">
+<li><p>基础业务层（Basic business layer）</p></li>
+</ul>
+<p>核心业务逻辑框架的实现。</p>
+<ul class="simple">
+<li><p>平台抽象层（Platform abstraction layer）</p></li>
+</ul>
+<p>跨平台组件抽象操作系统差异，提供统一的访问接口。</p>
+<ul class="simple">
+<li><p>平台实现层（Platform implementation layer）</p></li>
+</ul>
+<p>各平台的驱动实现。</p>
+</section>
+<section id="sdk">
+<h2>SDK 概念概述<a class="headerlink" href="#sdk" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>Context（上下文）</p></li>
+</ul>
+<p>上下文提供一组设置，包括设备状态更改回调、日志级别等设置。Context 可以访问多个设备。</p>
+<ul class="simple">
+<li><p>Device（设备）</p></li>
+</ul>
+<p>一个实际的硬件设备对应一个 Device 对象，用于获取设备的相关信息并控制其属性。</p>
+<ul class="simple">
+<li><p>Pipeline（管道）</p></li>
+</ul>
+<p>HighLevel 对应的对象，封装了快速访问 SDK 的接口。它具有简单的功能，使用户能够快速上手并使用 SDK。</p>
+<ul class="simple">
+<li><p>Config（配置）</p></li>
+</ul>
+<p>提供启用数据流、对齐模式和帧聚合模式的配置，用于控制数据输出的行为。</p>
+<ul class="simple">
+<li><p>StreamProfile（流配置）</p></li>
+</ul>
+<p>流配置定义分辨率、帧率和编码格式等参数，还提供相机参数的管理。</p>
+<ul class="simple">
+<li><p>Frame（帧）</p></li>
+</ul>
+<p>表示流中的一帧数据，还包含该帧数据的相关信息，如时间戳、类型等。</p>
+<ul class="simple">
+<li><p>Filter（滤镜）</p></li>
+</ul>
+<p>主要指用于复合流 FrameSet 的一些算法处理模块，如点云算法处理。</p>
+<ul class="simple">
+<li><p>Record（录制）</p></li>
+</ul>
+<p>录制功能，捕获数据流并将其保存为文件，以便后续分析或回放。</p>
+<ul class="simple">
+<li><p>Playback（回放）</p></li>
+</ul>
+<p>回放功能，播放录制的文件，并支持控制回放速度和其他相关参数。</p>
+</section>
+<section id="id2">
+<h2>SDK 编程模型<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>以下是 C++ 编程逻辑流程图。Python 的编程逻辑与之相同。</p>
+<ul class="simple">
+<li><p>标准流程图：</p></li>
+</ul>
+<p><img alt="image.png" src="../../../_images/Standard_Flowchart.png" /></p>
+<p>标准流程图演示了如何从设备列表创建设备、设置和获取参数，以及应用后处理滤镜。</p>
+<ul class="simple">
+<li><p>使用默认配置的流程图（基于 OrbbecSDKConfig.xml 中的默认设置获取流）：</p></li>
+</ul>
+<p><img alt="image" src="../../../_images/Default_Flowchart.png" /></p>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
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+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
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+</html>
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diff --git a/zh/source/camera_devices/1_overview/overview.html b/zh/source/camera_devices/1_overview/overview.html
new file mode 100644
index 00000000..dd98e1ab
--- /dev/null
+++ b/zh/source/camera_devices/1_overview/overview.html
@@ -0,0 +1,124 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>概述 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
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+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">概述</a></li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
+          <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
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+        <div class="rst-content">
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+      <li class="breadcrumb-item active">概述</li>
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+            <a href="../../../_sources/source/camera_devices/1_overview/overview.rst.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>概述<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章节提供 Orbbec SDK 的概述，包括支持的产品、主要功能和架构。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="introduction.html">引言</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="introduction.html#id2">支持的硬件产品</a></li>
+<li class="toctree-l2"><a class="reference internal" href="introduction.html#orbbec">Orbbec 相机规格书</a></li>
+<li class="toctree-l2"><a class="reference internal" href="introduction.html#id3">支持的平台</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="orbbecsdk_overview.html">Orbbec SDK 概述</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html#id1">术语</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html#orbbec-sdk-v2">Orbbec SDK v2 架构概述</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html#sdk">SDK 概念概述</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecsdk_overview.html#id2">SDK 编程模型</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
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diff --git a/zh/source/camera_devices/2_installation/build_the_package.html b/zh/source/camera_devices/2_installation/build_the_package.html
new file mode 100644
index 00000000..d83c50a9
--- /dev/null
+++ b/zh/source/camera_devices/2_installation/build_the_package.html
@@ -0,0 +1,158 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>环境配置 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="索引" href="../../../genindex.html" />
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+
+<body class="wy-body-for-nav"> 
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+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">环境配置</a></li>
+<li><a class="reference internal" href="#id2">二进制安装</a></li>
+<li><a class="reference internal" href="#id3">从源码构建</a></li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+            <a href="../../../_sources/source/camera_devices/2_installation/build_the_package.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>环境配置<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>根据官方指南安装 ROS 2：</p>
+<ul class="simple">
+<li><p><a class="reference external" href="https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html">ROS 2 安装指南（Ubuntu）</a></p></li>
+</ul>
+<p>安装依赖项：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-xacro<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev<span class="w"> </span>libssl-dev
+</pre></div>
+</div>
+<p>启用 ROS 2 自动补全：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>ros2<span class="k">)</span><span class="s2">&quot;</span>
+<span class="nb">eval</span><span class="w"> </span><span class="s2">&quot;</span><span class="k">$(</span>register-python-argcomplete3<span class="w"> </span>colcon<span class="k">)</span><span class="s2">&quot;</span>
+</pre></div>
+</div>
+</section>
+<section id="id2">
+<h1>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h1>
+<p>查看软件包：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>update
+apt<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>orbbec
+</pre></div>
+</div>
+<p>安装 OrbbecSDK ROS2 包：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>ros-humble-orbbec-camera<span class="w"> </span>ros-humble-orbbec-description
+</pre></div>
+</div>
+<p>安装完成后，直接使用即可，无需编译。</p>
+</section>
+<hr class="docutils" />
+<section id="id3">
+<h1>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h1>
+<p>创建 <code class="docutils literal notranslate"><span class="pre">colcon</span></code> 工作空间：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>mkdir<span class="w"> </span>-p<span class="w"> </span>~/ros2_ws/src
+</pre></div>
+</div>
+<p>克隆源代码并切换到 <code class="docutils literal notranslate"><span class="pre">v2-main</span></code> 分支：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/src
+git<span class="w"> </span>clone<span class="w"> </span>https://github.com/orbbec/OrbbecSDK_ROS2.git
+<span class="nb">cd</span><span class="w"> </span>OrbbecSDK_ROS2
+git<span class="w"> </span>checkout<span class="w"> </span>v2-main
+</pre></div>
+</div>
+<p>构建：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws
+colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
+</pre></div>
+</div>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
+
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+  </div>
+  <script>
+      jQuery(function () {
+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
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diff --git a/zh/source/camera_devices/2_installation/installation.html b/zh/source/camera_devices/2_installation/installation.html
new file mode 100644
index 00000000..63a4e923
--- /dev/null
+++ b/zh/source/camera_devices/2_installation/installation.html
@@ -0,0 +1,119 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
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+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">安装</a></li>
+</ul>
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+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+            <a href="../../../_sources/source/camera_devices/2_installation/installation.rst.txt" rel="nofollow"> 查看页面源码</a>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>安装<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章节说明如何安装 Orbbec ROS2 Python SDK，包括从源码构建、安装依赖项以及使用注册脚本。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html">环境配置</a></li>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#id2">二进制安装</a></li>
+<li class="toctree-l1"><a class="reference internal" href="build_the_package.html#id3">从源码构建</a></li>
+<li class="toctree-l1"><a class="reference internal" href="registration_script.html">注册脚本（必需）</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="registration_script.html#id2">二进制安装</a></li>
+<li class="toctree-l2"><a class="reference internal" href="registration_script.html#id3">从源码构建</a></li>
+</ul>
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/2_installation/registration_script.html b/zh/source/camera_devices/2_installation/registration_script.html
new file mode 100644
index 00000000..747cf7f1
--- /dev/null
+++ b/zh/source/camera_devices/2_installation/registration_script.html
@@ -0,0 +1,128 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>注册脚本（必需） &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
+
+  
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+    <link rel="index" title="索引" href="../../../genindex.html" />
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+</head>
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+<body class="wy-body-for-nav"> 
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+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">注册脚本（必需）</a><ul>
+<li><a class="reference internal" href="#id2">二进制安装</a></li>
+<li><a class="reference internal" href="#id3">从源码构建</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
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+        <div class="rst-content">
+          <div role="navigation" aria-label="页面导航">
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+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">注册脚本（必需）</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/source/camera_devices/2_installation/registration_script.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>注册脚本（必需）<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>为了让 Orbbec 相机在 Linux 上被正确识别，请安装 udev 规则。</p>
+<section id="id2">
+<h2>二进制安装<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>cp<span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/share/orbbec_camera/udev/99-obsensor-libusb.rules<span class="w"> </span>/etc/udev/rules.d/
+sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
+</pre></div>
+</div>
+</section>
+<section id="id3">
+<h2>从源码构建<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w">  </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
+sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
+</pre></div>
+</div>
+<p>此步骤对于 Linux 用户是<strong>必需的</strong>。</p>
+<p><code class="docutils literal notranslate"><span class="pre">注意：</span></code> 如果不执行此脚本，由于权限问题，打开设备将会失败。您需要使用 sudo（管理员权限）运行示例程序。</p>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
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diff --git a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html
new file mode 100644
index 00000000..41373e63
--- /dev/null
+++ b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html
@@ -0,0 +1,193 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>OrbbecViewer 快速入门 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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+
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+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=7d86a446"></script>
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+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="索引" href="../../../genindex.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
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+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">OrbbecViewer 快速入门</a><ul>
+<li><a class="reference internal" href="#id1">下载</a></li>
+<li><a class="reference internal" href="#id2">连接设备</a></li>
+<li><a class="reference internal" href="#id3">相机控制</a></li>
+<li><a class="reference internal" href="#id4">设备信息和固件升级</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
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+      <li class="breadcrumb-item active">OrbbecViewer 快速入门</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/source/camera_devices/3_quickstarts/orbbecviewer.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbecviewer">
+<h1>OrbbecViewer 快速入门<a class="headerlink" href="#orbbecviewer" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p><strong>注意：</strong> 此 ROS 包的参数和功能与 <strong>Orbbec Viewer</strong> 保持一致；有关参数使用或设备型号支持的任何问题，请参考 Orbbec Viewer。</p>
+</div></blockquote>
+<section id="id1">
+<h2>下载<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p><strong>仓库链接：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecSDK_v2/releases">OrbbecViewer 下载</a></p>
+<p>根据您的设备类型选择合适版本的 OrbbecViewer。</p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer1.png" /></p>
+</section>
+<section id="id2">
+<h2>连接设备<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>当 Orbbec Viewer 打开时，当前设备连接状态将显著地显示在应用程序窗口的左上角。此区域提供关于相机是否已连接并正常工作的即时反馈。</p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer2.png" /></p>
+</section>
+<section id="id3">
+<h2>相机控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>您可以使用窗口顶部的按钮快速查看图像，并在窗口左侧的相机面板中调整图像参数。</p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer3.png" /></p>
+</section>
+<section id="id4">
+<h2>设备信息和固件升级<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p>点击窗口左下角的图标以查看当前相机信息并升级固件。</p>
+<p><img alt="orbbecviewer" src="../../../_images/orbbecviewer4.png" /></p>
+<p>请参考下面的列表获取最新的相机固件。<a class="reference external" href="https://www.orbbec.com/docs/g330-explore-camera-functions-in-orbbec-viewer/">更多信息请点击这里。</a></p>
+<p><strong>仓库链接：</strong><a class="reference external" href="https://github.com/orbbec/OrbbecFirmware?tab=readme-ov-file#firmware-download">固件下载</a></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>产品列表</strong></th>
+<th><strong>下载链接</strong></th>
+<th>最新版本</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>Femto Bolt</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">Femto Bolt 固件</a></td>
+<td>v1.1.2</td>
+</tr>
+<tr>
+<td>Femto Mega</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">Femto Mega 固件</a></td>
+<td>v1.3.1</td>
+</tr>
+<tr>
+<td>Gemini 2</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">Gemini 2 固件</a></td>
+<td>v1.4.98</td>
+</tr>
+<tr>
+<td>Gemini 2 L</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">Gemini 2L 固件</a></td>
+<td>v1.5.02</td>
+</tr>
+<tr>
+<td>Femto Mega I</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">Femto Mega I 固件</a></td>
+<td>v2.0.4</td>
+</tr>
+<tr>
+<td>Gemini 330 系列</td>
+<td><a href="https://www.orbbec.com/docs/g330-firmware-release/?_gl=1">Gemini 330 系列固件</a></td>
+<td></td>
+</tr>
+<tr>
+<td>Gemini 215</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">Gemini 215</a></td>
+<td>v1.0.9</td>
+</tr>
+<tr>
+<td>Gemini 210</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">Gemini 210</a></td>
+<td>v1.0.9</td>
+</tr>
+<tr>
+<td>Gemini 435Le</td>
+<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">Gemini 435Le</a></td>
+<td>v1.3.2</td>
+</tr>
+</tbody>
+</table></section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
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+<li><a class="reference internal" href="#">ROS 包快速入门</a><ul>
+<li><a class="reference internal" href="#id1">简介</a></li>
+<li><a class="reference internal" href="#id2">构建您的第一个相机应用</a><ul>
+<li><a class="reference internal" href="#ros-2">步骤 1：配置 ROS 2 和工作空间环境</a></li>
+<li><a class="reference internal" href="#id3">步骤 2：启动相机节点</a></li>
+<li><a class="reference internal" href="#rviz2">步骤 3：在 RViz2 中可视化</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id4">示例功能</a><ul>
+<li><a class="reference internal" href="#id5">列出可用的话题/服务/参数</a></li>
+<li><a class="reference internal" href="#id6">回显话题</a></li>
+<li><a class="reference internal" href="#id7">调用服务</a></li>
+<li><a class="reference internal" href="#rosbag2">使用 rosbag2 录制</a></li>
+</ul>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros">
+<h1>ROS 包快速入门<a class="headerlink" href="#ros" title="Link to this heading"></a></h1>
+<section id="id1">
+<h2>简介<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p>本节提供 Orbbec ROS 2 包装器的快速入门指南。
+您将学习如何：</p>
+<ul class="simple">
+<li><p>启动相机节点。</p></li>
+<li><p>在 <strong>RViz2</strong> 中可视化深度/彩色流。</p></li>
+<li><p>使用 <strong>ROS 2 CLI 工具</strong>与话题和服务交互。</p></li>
+</ul>
+</section>
+<hr class="docutils" />
+<section id="id2">
+<h2>构建您的第一个相机应用<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<section id="ros-2">
+<h3>步骤 1：配置 ROS 2 和工作空间环境<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h3>
+<p>确保已配置 ROS 2 和工作空间环境：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>/opt/ros/<span class="nv">$ROS_DISTRO</span>/setup.bash
+</pre></div>
+</div>
+<p>源码构建需要</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>~/ros2_ws/install/setup.bash
+</pre></div>
+</div>
+</section>
+<section id="id3">
+<h3>步骤 2：启动相机节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p>在终端 1 中</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
+ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node<span class="w"> </span><span class="c1">#检查相机是否已连接</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="c1"># 或其他启动文件，见下表</span>
+</pre></div>
+</div>
+<p>如果您连接了多个相机，可以指定<strong>序列号</strong>：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>&lt;您的相机序列号&gt;
+</pre></div>
+</div>
+</section>
+<section id="rviz2">
+<h3>步骤 3：在 RViz2 中可视化<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
+<p>启动 RViz2 并加载默认配置：</p>
+<ul class="simple">
+<li><p>在终端 2 中</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>添加一个 <strong>Image</strong> 显示，将话题设置为 <code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code>。</p></li>
+<li><p>为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code> 添加另一个 <strong>Image</strong> 显示。</p></li>
+<li><p>可选：为 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 添加 <strong>PointCloud2</strong> 显示。</p></li>
+</ul>
+<p>现在您应该能在 RViz2 中看到彩色流、深度流和 3D 点云。</p>
+</section>
+</section>
+<hr class="docutils" />
+<section id="id4">
+<h2>示例功能<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p>节点运行后，尝试一些 ROS 2 CLI 命令：</p>
+<section id="id5">
+<h3>列出可用的话题/服务/参数<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span>list
+ros2<span class="w"> </span>service<span class="w"> </span>list
+ros2<span class="w"> </span>param<span class="w"> </span>list
+</pre></div>
+</div>
+</section>
+<section id="id6">
+<h3>回显话题<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
+<p>查看深度相机数据：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/depth/camera_info
+</pre></div>
+</div>
+</section>
+<section id="id7">
+<h3>调用服务<a class="headerlink" href="#id7" title="Link to this heading"></a></h3>
+<p>例如，获取设备信息：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
+</pre></div>
+</div>
+</section>
+<section id="rosbag2">
+<h3>使用 rosbag2 录制<a class="headerlink" href="#rosbag2" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>bag<span class="w"> </span>record<span class="w"> </span>/camera/color/image_raw<span class="w"> </span>/camera/depth/image_raw
+</pre></div>
+</div>
+</section>
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index 00000000..19c8b4a9
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+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>快速开始<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章节提供 SDK 的快速入门指南，帮助用户快速运行基本示例程序。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="quickstart.html">ROS 包快速入门</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="quickstart.html#id1">简介</a></li>
+<li class="toctree-l2"><a class="reference internal" href="quickstart.html#id2">构建您的第一个相机应用</a></li>
+<li class="toctree-l2"><a class="reference internal" href="quickstart.html#id4">示例功能</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="orbbecviewer.html">OrbbecViewer 快速入门</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#id1">下载</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#id2">连接设备</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#id3">相机控制</a></li>
+<li class="toctree-l2"><a class="reference internal" href="orbbecviewer.html#id4">设备信息和固件升级</a></li>
+</ul>
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new file mode 100644
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+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+            <a href="../../../_sources/source/camera_devices/4_application_guide/application_guide.rst.txt" rel="nofollow"> 查看页面源码</a>
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+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>应用指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章介绍使用SDK进行应用开发，包括启动参数配置、ROS2服务和话题使用。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="launch_parameters.html">启动参数</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id2">核心与数据流配置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id3">传感器控制</a></li>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id7">设备、同步与高级功能</a></li>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id13">基础与通用参数</a></li>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#imu">IMU</a></li>
+<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#id18">深度滤波器</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="services.html">所有可用的相机控制服务</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id2">数据流控制</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id7">传感器与发射器控制</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id8">设备信息与管理</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id9">同步与触发</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id10">深度滤波器配置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id11">数据捕获与校准管理</a></li>
+<li class="toctree-l2"><a class="reference internal" href="services.html#id12">点云下采样</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="topics.html">可用话题</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="topics.html#id2">图像流</a></li>
+<li class="toctree-l2"><a class="reference internal" href="topics.html#id3">点云话题</a></li>
+<li class="toctree-l2"><a class="reference internal" href="topics.html#imu">IMU话题</a></li>
+<li class="toctree-l2"><a class="reference internal" href="topics.html#id4">设备状态与诊断</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="coordinate_and_tf.html">坐标系和 TF 变换</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id1">相机传感器结构</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#abtf">从坐标系A到坐标系B的TF变换：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">ROS2机器人坐标系 vs 相机光学坐标系</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">ROS2 TF工具的使用</a></li>
+<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html#id3">相机TF计算和发布机制</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="compressed_image.html">压缩图像</a></li>
+<li class="toctree-l1"><a class="reference internal" href="point_cloud.html">在ROS 2中启用和可视化点云</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id1">启用深度点云</a></li>
+<li class="toctree-l2"><a class="reference internal" href="point_cloud.html#id3">启用彩色点云</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+
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+          <footer>
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/4_application_guide/compressed_image.html b/zh/source/camera_devices/4_application_guide/compressed_image.html
new file mode 100644
index 00000000..74615d11
--- /dev/null
+++ b/zh/source/camera_devices/4_application_guide/compressed_image.html
@@ -0,0 +1,112 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
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+  <title>压缩图像 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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+            OrbbecSDK V2 ROS2 封装
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+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">压缩图像</a></li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+  <ul class="wy-breadcrumbs">
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">压缩图像</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/source/camera_devices/4_application_guide/compressed_image.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>压缩图像<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>您可以使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 通过 <code class="docutils literal notranslate"><span class="pre">jpeg</span></code> 压缩图像。以下是使用示例：</p>
+<p>要访问压缩的彩色图像，可以使用以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/camera/color/image_raw/compressed<span class="w"> </span>--no-arr
+</pre></div>
+</div>
+<p>此命令将允许您从指定话题接收压缩的彩色图像。</p>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
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+          SphinxRtdTheme.Navigation.enable(true);
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+
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+</html>
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diff --git a/zh/source/4_application_guide/coordinate_and_tf.html b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
similarity index 69%
rename from zh/source/4_application_guide/coordinate_and_tf.html
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index 965af598..3c73ac65 100644
--- a/zh/source/4_application_guide/coordinate_and_tf.html
+++ b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html
@@ -1,29 +1,27 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="zh-CN" data-content_root="../../">
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
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-    <link rel="prev" title="4.3. 可用话题" href="topics.html" /> 
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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 </head>
 
 <body class="wy-body-for-nav"> 
@@ -34,344 +32,54 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
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             OrbbecSDK V2 ROS2 封装
           </a>
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-              <ul class="current">
-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">坐标系和 TF 变换</a><ul>
+<li><a class="reference internal" href="#id1">相机传感器结构</a></li>
+<li><a class="reference internal" href="#abtf">从坐标系A到坐标系B的TF变换：</a></li>
+<li><a class="reference internal" href="#ros2-vs">ROS2机器人坐标系 vs 相机光学坐标系</a></li>
+<li><a class="reference internal" href="#ros2-tf">ROS2 TF工具的使用</a><ul>
+<li><a class="reference internal" href="#id2">查看TF树结构</a></li>
+<li><a class="reference internal" href="#rviz2tf">使用rviz2可视化TF树</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
+<li><a class="reference internal" href="#id3">相机TF计算和发布机制</a><ul>
+<li><a class="reference internal" href="#obcameranode-calcandpublishstatictransform">核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
+<li><a class="reference internal" href="#id4">函数解析</a></li>
 </ul>
 </li>
 </ul>
 </li>
 </ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
-</ul>
-
+</div>
         </div>
       </div>
     </nav>
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="页面导航">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
-          <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">4.4. </span>坐标系和 TF 变换</li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">坐标系和 TF 变换</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/coordinate_and_tf.md.txt" rel="nofollow"> 查看页面源码</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/coordinate_and_tf.md.txt" rel="nofollow"> 查看页面源码</a>
       </li>
   </ul>
   <hr/>
@@ -380,23 +88,23 @@
            <div itemprop="articleBody">
              
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="tf">
-<h1><span class="section-number">4.4. </span>坐标系和 TF 变换<a class="headerlink" href="#tf" title="Link to this heading"></a></h1>
+<h1>坐标系和 TF 变换<a class="headerlink" href="#tf" title="Link to this heading"></a></h1>
 <section id="id1">
-<h2><span class="section-number">4.4.1. </span>相机传感器结构<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
-<p><img alt="module in rviz2" src="../../_images/image3.png" /></p>
-<p><img alt="module in rviz2" src="../../_images/image1.png" /></p>
+<h2>相机传感器结构<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p><img alt="module in rviz2" src="../../../_images/image3.png" /></p>
+<p><img alt="module in rviz2" src="../../../_images/image1.png" /></p>
 </section>
 <section id="abtf">
-<h2><span class="section-number">4.4.2. </span>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
+<h2>从坐标系A到坐标系B的TF变换：<a class="headerlink" href="#abtf" title="Link to this heading"></a></h2>
 <p>在Orbbec相机中，原点（0,0,0）取自camera_link位置。</p>
 <p>可以使用以下命令查看相机的URDF模型和坐标系结构：</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_description<span class="w"> </span>view_model.launch.py<span class="w"> </span>model:<span class="o">=</span>gemini_335_336.urdf.xacro
 </pre></div>
 </div>
-<p><img alt="rviz2中的模块" src="../../_images/image2.png" /></p>
+<p><img alt="rviz2中的模块" src="../../../_images/image2.png" /></p>
 </section>
 <section id="ros2-vs">
-<h2><span class="section-number">4.4.3. </span>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
+<h2>ROS2机器人坐标系 vs 相机光学坐标系<a class="headerlink" href="#ros2-vs" title="Link to this heading"></a></h2>
 <ul class="simple">
 <li><p>视角：</p>
 <ul>
@@ -405,7 +113,7 @@
 </ul>
 </li>
 </ul>
-<p><img alt="ROS2和相机坐标系统" src="../../_images/image0.png" /></p>
+<p><img alt="ROS2和相机坐标系统" src="../../../_images/image0.png" /></p>
 <ul class="simple">
 <li><p>ROS2坐标系：（X: 向前，Y: 向左，Z: 向上）</p></li>
 <li><p>相机光学坐标系：（X: 向右，Y: 向下，Z: 向前）</p></li>
@@ -414,16 +122,16 @@
 </ul>
 </section>
 <section id="ros2-tf">
-<h2><span class="section-number">4.4.4. </span>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
+<h2>ROS2 TF工具的使用<a class="headerlink" href="#ros2-tf" title="Link to this heading"></a></h2>
 <section id="id2">
-<h3><span class="section-number">4.4.4.1. </span>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<h3>查看TF树结构<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
 <p>可以使用以下ROS2命令来打印和可视化相机包发布的TF树：</p>
 <p><strong>打印所有TF关系：</strong></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>tf2_tools<span class="w"> </span>view_frames
 </pre></div>
 </div>
 <p>这个命令会生成一个 <code class="docutils literal notranslate"><span class="pre">frames.pdf</span></code>文件，展示所有frame之间的层级关系。</p>
-<p><img alt="image-20251027111351870" src="../../_images/image4.png" /></p>
+<p><img alt="image-20251027111351870" src="../../../_images/image4.png" /></p>
 <p><strong>查看所有正在发布的TF信息：</strong></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/tf_static
 </pre></div>
@@ -459,7 +167,7 @@
 </div>
 </section>
 <section id="rviz2tf">
-<h3><span class="section-number">4.4.4.2. </span>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
+<h3>使用rviz2可视化TF树<a class="headerlink" href="#rviz2tf" title="Link to this heading"></a></h3>
 <p>在rviz2中可以实时可视化TF树结构和坐标系的相对位置：</p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rviz2
 </pre></div>
@@ -470,13 +178,13 @@
 <li><p>配置固定框架（Fixed Frame）为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>或 <code class="docutils literal notranslate"><span class="pre">camera_depth_optical_frame</span></code></p></li>
 <li><p>选择显示的TF框架树</p></li>
 </ul>
-<p><img alt="image-20251027140652727" src="../../_images/image5.png" /></p>
+<p><img alt="image-20251027140652727" src="../../../_images/image5.png" /></p>
 </section>
 </section>
 <section id="id3">
-<h2><span class="section-number">4.4.5. </span>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2>相机TF计算和发布机制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
 <section id="obcameranode-calcandpublishstatictransform">
-<h3><span class="section-number">4.4.5.1. </span>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
+<h3>核心函数：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475">OBCameraNode::calcAndPublishStaticTransform()</a><a class="headerlink" href="#obcameranode-calcandpublishstatictransform" title="Link to this heading"></a></h3>
 <p>相机节点通过此函数计算和发布所有传感器之间的静态转换关系。</p>
 <div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="kt">void</span><span class="w"> </span><span class="nf">OBCameraNode::calcAndPublishStaticTransform</span><span class="p">()</span><span class="w"> </span><span class="p">{</span>
 <span class="w">  </span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -646,7 +354,7 @@
 </div>
 </section>
 <section id="id4">
-<h3><span class="section-number">4.4.5.2. </span>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<h3>函数解析<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
 <p>下面是代码的详细解释：</p>
 <p><strong>四元数初始化与坐标系变换</strong></p>
 <div class="highlight-cpp notranslate"><div class="highlight"><pre><span></span><span class="n">tf2</span><span class="o">::</span><span class="n">Quaternion</span><span class="w"> </span><span class="n">quaternion_optical</span><span class="p">,</span><span class="w"> </span><span class="n">zero_rot</span><span class="p">;</span>
@@ -733,16 +441,13 @@
 
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-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
-        <a href="topics.html" class="btn btn-neutral float-left" title="4.3. 可用话题" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
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-      <span class="lastupdated">最后更新于 2025年12月15日 11:57:25.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/4_application_guide/launch_parameters.html b/zh/source/camera_devices/4_application_guide/launch_parameters.html
similarity index 55%
rename from zh/source/4_application_guide/launch_parameters.html
rename to zh/source/camera_devices/4_application_guide/launch_parameters.html
index 9f0c61d3..67462023 100644
--- a/zh/source/4_application_guide/launch_parameters.html
+++ b/zh/source/camera_devices/4_application_guide/launch_parameters.html
@@ -1,29 +1,27 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="zh-CN" data-content_root="../../">
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
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+  <title>启动参数 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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-    <link rel="prev" title="4. 应用指南" href="application_guide.html" /> 
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
+      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
+      <script src="../../../_static/documentation_options.js?v=7d86a446"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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-<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">启动参数</a><ul>
+<li><a class="reference internal" href="#id2">核心与数据流配置</a></li>
+<li><a class="reference internal" href="#id3">传感器控制</a><ul>
+<li><a class="reference internal" href="#id4">彩色流</a></li>
+<li><a class="reference internal" href="#id5">深度流</a></li>
+<li><a class="reference internal" href="#id6">红外流</a></li>
+<li><a class="reference internal" href="#ldp">激光 / LDP</a></li>
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
+<li><a class="reference internal" href="#id7">设备、同步与高级功能</a><ul>
+<li><a class="reference internal" href="#id8">多相机同步</a></li>
+<li><a class="reference internal" href="#id9">网络相机</a></li>
+<li><a class="reference internal" href="#id10">设备特定</a></li>
+<li><a class="reference internal" href="#id11">视差</a></li>
+<li><a class="reference internal" href="#ae">交错AE模式</a></li>
+<li><a class="reference internal" href="#id12">相机内同步</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id13">基础与通用参数</a><ul>
+<li><a class="reference internal" href="#id14">固件与后端</a></li>
+<li><a class="reference internal" href="#tf">TF、外参与校准</a></li>
+<li><a class="reference internal" href="#id15">时间同步</a></li>
+<li><a class="reference internal" href="#id16">日志与诊断</a></li>
+<li><a class="reference internal" href="#id17">其他</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#imu">IMU</a></li>
+<li><a class="reference internal" href="#id18">深度滤波器</a></li>
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-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="services.html">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="services.html#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="services.html#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
-</ul>
-
+</div>
         </div>
       </div>
     </nav>
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="页面导航">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
-          <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">4.1. </span>启动参数</li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">启动参数</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/launch_parameters.md.txt" rel="nofollow"> 查看页面源码</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt" rel="nofollow"> 查看页面源码</a>
       </li>
   </ul>
   <hr/>
@@ -380,13 +102,13 @@
            <div itemprop="articleBody">
              
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">4.1. </span>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1>启动参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
 <blockquote>
 <div><p>如果您不确定如何设置参数，可以连接orbbec相机并打开 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK/releases">OrbbecViewer</a>。</p>
 </div></blockquote>
 <p>以下是可用的启动参数：</p>
 <section id="id2">
-<h2><span class="section-number">4.1.1. </span>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2>核心与数据流配置<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
 <ul>
@@ -474,12 +196,22 @@
 <li><p>启用右红外图像传输插件。默认值：<code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>。</p></li>
 </ul>
 </li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
+<ul>
+<li><p>点云下采样因子。范围：<code class="docutils literal notranslate"><span class="pre">1–8</span></code>，<code class="docutils literal notranslate"><span class="pre">1</span></code>表示不下采样，数值越大下采样越强。</p></li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
+<ul>
+<li><p>摄像头设备的预设分辨率配置。格式: &quot;width,height,ir_decimation_factor,depth_decimation_factor&quot;. Example: &quot;1280,720,4,4&quot;. 仅在 Gemini435Le 设备上受支持。留空禁用。</p></li>
+</ul>
+</li>
 </ul>
 </section>
 <section id="id3">
-<h2><span class="section-number">4.1.2. </span>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<h2>传感器控制<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
 <section id="id4">
-<h3><span class="section-number">4.1.2.1. </span>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<h3>彩色流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_color_auto_exposure</span></code></strong></p>
 <ul>
@@ -549,7 +281,7 @@
 </ul>
 </section>
 <section id="id5">
-<h3><span class="section-number">4.1.2.2. </span>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<h3>深度流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
 <ul>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_auto_exposure_priority</span></code></strong></p>
 <ul class="simple">
@@ -582,7 +314,7 @@
 </ul>
 </section>
 <section id="id6">
-<h3><span class="section-number">4.1.2.3. </span>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
+<h3>红外流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ir_auto_exposure</span></code></strong></p>
 <ul>
@@ -607,7 +339,7 @@
 </ul>
 </section>
 <section id="ldp">
-<h3><span class="section-number">4.1.2.4. </span>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
+<h3>激光 / LDP<a class="headerlink" href="#ldp" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_laser</span></code></strong></p>
 <ul>
@@ -628,9 +360,9 @@
 </section>
 </section>
 <section id="id7">
-<h2><span class="section-number">4.1.3. </span>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<h2>设备、同步与高级功能<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
 <section id="id8">
-<h3><span class="section-number">4.1.3.1. </span>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
+<h3>多相机同步<a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">sync_mode</span></code></strong></p>
 <ul>
@@ -673,7 +405,7 @@
 </div></blockquote>
 </section>
 <section id="id9">
-<h3><span class="section-number">4.1.3.2. </span>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
+<h3>网络相机<a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code></strong></p>
 <ul>
@@ -716,7 +448,7 @@
 </div></blockquote>
 </section>
 <section id="id10">
-<h3><span class="section-number">4.1.3.3. </span>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
+<h3>设备特定<a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
 <ul>
@@ -731,7 +463,7 @@
 </ul>
 </section>
 <section id="id11">
-<h3><span class="section-number">4.1.3.4. </span>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
+<h3>视差<a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">disparity_to_depth_mode</span></code></strong></p>
 <ul>
@@ -746,7 +478,7 @@
 </ul>
 </section>
 <section id="ae">
-<h3><span class="section-number">4.1.3.5. </span>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
+<h3>交错AE模式<a class="headerlink" href="#ae" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code></strong></p>
 <ul>
@@ -767,7 +499,7 @@
 </ul>
 </section>
 <section id="id12">
-<h3><span class="section-number">4.1.3.6. </span>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
+<h3>相机内同步<a class="headerlink" href="#id12" title="Link to this heading"></a></h3>
 <ul class="simple">
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+<li><p>设置相机内同步的参考点。适用于Gemini 330系列设备，当 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为<strong>软件</strong>或<strong>硬件触发</strong>模式时。<strong>选项：</strong> <code class="docutils literal notranslate"><span class="pre">Start</span></code>、<code class="docutils literal notranslate"><span class="pre">Middle</span></code>、<code class="docutils literal notranslate"><span class="pre">End</span></code>。设置为空时，长基线设备默认End，短基线设备默认Middle。</p></li>
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-<h2><span class="section-number">4.1.4. </span>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
+<h2>基础与通用参数<a class="headerlink" href="#id13" title="Link to this heading"></a></h2>
 <section id="id14">
-<h3><span class="section-number">4.1.4.1. </span>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
+<h3>固件与后端<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">upgrade_firmware</span></code></strong></p>
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-<h3><span class="section-number">4.1.4.2. </span>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
+<h3>TF、外参与校准<a class="headerlink" href="#tf" title="Link to this heading"></a></h3>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">publish_tf</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">tf_publish_rate</span></code></strong></p>
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-<h3><span class="section-number">4.1.4.3. </span>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
+<h3>时间同步<a class="headerlink" href="#id15" title="Link to this heading"></a></h3>
 <ul>
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-<h3><span class="section-number">4.1.4.4. </span>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
+<h3>日志与诊断<a class="headerlink" href="#id16" title="Link to this heading"></a></h3>
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 <li><p><strong><code class="docutils literal notranslate"><span class="pre">log_level</span></code></strong></p>
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 </ul>
 </li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">log_file_name</span></code></strong></p>
+<ul>
+<li><p>保存的SDK日志文件名。当<code class="docutils literal notranslate"><span class="pre">log_level</span></code>为<code class="docutils literal notranslate"><span class="pre">debug</span></code>时生效。</p></li>
+</ul>
+</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">diagnostic_period</span></code></strong></p>
 <ul>
 <li><p>诊断周期（秒）。</p></li>
@@ -906,7 +643,7 @@
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 </section>
 <section id="id17">
-<h3><span class="section-number">4.1.4.5. </span>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
+<h3>其他<a class="headerlink" href="#id17" title="Link to this heading"></a></h3>
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 </section>
 </section>
 <section id="imu">
-<h2><span class="section-number">4.1.5. </span>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
+<h2>IMU<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_accel</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code></strong></p>
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-<h2><span class="section-number">4.1.6. </span>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
+<h2>深度滤波器<a class="headerlink" href="#id18" title="Link to this heading"></a></h2>
 <ul class="simple">
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_decimation_filter</span></code></strong></p>
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@@ -1030,16 +767,13 @@
 
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           </div>
-          <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
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-        <a href="services.html" class="btn btn-neutral float-right" title="4.2. 所有可用的相机控制服务" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
-    </div>
+          <footer>
 
   <hr/>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年12月15日 11:57:25.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
       </span></p>
   </div>
 
diff --git a/zh/source/camera_devices/4_application_guide/point_cloud.html b/zh/source/camera_devices/4_application_guide/point_cloud.html
new file mode 100644
index 00000000..a708c105
--- /dev/null
+++ b/zh/source/camera_devices/4_application_guide/point_cloud.html
@@ -0,0 +1,169 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>在ROS 2中启用和可视化点云 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+    <link rel="index" title="索引" href="../../../genindex.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
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+            OrbbecSDK V2 ROS2 封装
+          </a>
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+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">在ROS 2中启用和可视化点云</a><ul>
+<li><a class="reference internal" href="#id1">启用深度点云</a><ul>
+<li><a class="reference internal" href="#id2">启用深度点云的命令</a></li>
+<li><a class="reference internal" href="#rviz2">在RViz2中可视化深度点云</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id3">启用彩色点云</a><ul>
+<li><a class="reference internal" href="#id4">启用彩色点云的命令</a></li>
+<li><a class="reference internal" href="#id5">在RViz2中可视化彩色点云</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+      <li class="breadcrumb-item active">在ROS 2中启用和可视化点云</li>
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+            <a href="../../../_sources/source/camera_devices/4_application_guide/point_cloud.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros-2">
+<h1>在ROS 2中启用和可视化点云<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
+<p>本节演示如何从相机节点启用点云数据输出并使用RViz2进行可视化。</p>
+<section id="id1">
+<h2>启用深度点云<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<section id="id2">
+<h3>启用深度点云的命令<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<p>要激活深度信息的点云数据流，使用以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_point_cloud:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+</section>
+<section id="rviz2">
+<h3>在RViz2中可视化深度点云<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h3>
+<p>运行上述命令后，执行以下步骤可视化深度点云：</p>
+<ol class="simple">
+<li><p>打开RViz2。</p></li>
+<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示。</p></li>
+<li><p>选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code> 话题进行可视化。</p></li>
+<li><p>将固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code> 以正确对齐数据。</p></li>
+</ol>
+<ul class="simple">
+<li><p><strong>可视化示例</strong></p></li>
+</ul>
+<p>深度点云在RViz2中可能如下所示：</p>
+<p><img alt="深度点云可视化" src="../../../_images/image5.jpg" /></p>
+</section>
+</section>
+<section id="id3">
+<h2>启用彩色点云<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<section id="id4">
+<h3>启用彩色点云的命令<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<p>要启用彩色点云功能，输入以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enable_colored_point_cloud:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+</section>
+<section id="id5">
+<h3>在RViz2中可视化彩色点云<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<p>要可视化彩色点云数据：</p>
+<ol class="simple">
+<li><p>执行命令后启动RViz2。</p></li>
+<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> 显示面板。</p></li>
+<li><p>从列表中选择 <code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code> 话题。</p></li>
+<li><p>确保固定帧设置为 <code class="docutils literal notranslate"><span class="pre">camera_link</span></code>。</p></li>
+</ol>
+<ul class="simple">
+<li><p><strong>可视化示例</strong></p></li>
+</ul>
+<p>RViz2中彩色点云的结果应该如下所示：</p>
+<p><img alt="彩色点云可视化" src="../../../_images/image6.jpg" /></p>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
+
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+          SphinxRtdTheme.Navigation.enable(true);
+      });
+  </script> 
+
+</body>
+</html>
\ No newline at end of file
diff --git a/zh/source/4_application_guide/services.html b/zh/source/camera_devices/4_application_guide/services.html
similarity index 50%
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rename to zh/source/camera_devices/4_application_guide/services.html
index 7e4b5aad..28e7dffb 100644
--- a/zh/source/4_application_guide/services.html
+++ b/zh/source/camera_devices/4_application_guide/services.html
@@ -1,29 +1,27 @@
 
 
 <!DOCTYPE html>
-<html class="writer-html5" lang="zh-CN" data-content_root="../../">
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
 <head>
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   <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>4.2. 所有可用的相机控制服务 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
-      <link rel="stylesheet" type="text/css" href="../../_static/pygments.css?v=b86133f3" />
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-      <link rel="stylesheet" type="text/css" href="../../_static/custom.css?v=63de077d" />
+  <title>所有可用的相机控制服务 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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-    <link rel="prev" title="4.1. 启动参数" href="launch_parameters.html" /> 
+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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 </head>
 
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@@ -34,344 +32,54 @@
 
           
           
-          <a href="../../index.html" class="icon icon-home">
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             OrbbecSDK V2 ROS2 封装
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-<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">所有可用的相机控制服务</a><ul>
+<li><a class="reference internal" href="#id2">数据流控制</a><ul>
+<li><a class="reference internal" href="#id3">彩色流</a></li>
+<li><a class="reference internal" href="#id4">深度流</a></li>
+<li><a class="reference internal" href="#id5">红外流</a></li>
+<li><a class="reference internal" href="#id6">所有数据流</a></li>
 </ul>
 </li>
-<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
+<li><a class="reference internal" href="#id7">传感器与发射器控制</a></li>
+<li><a class="reference internal" href="#id8">设备信息与管理</a></li>
+<li><a class="reference internal" href="#id9">同步与触发</a></li>
+<li><a class="reference internal" href="#id10">深度滤波器配置</a></li>
+<li><a class="reference internal" href="#id11">数据捕获与校准管理</a></li>
+<li><a class="reference internal" href="#id12">点云下采样</a></li>
 </ul>
 </li>
 </ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. 安装</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. 环境配置</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html#id3">2.3. 从源码构建</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2">2.3.1. Linux ROS2 包装器编译</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id3">3.1.2.2. 步骤 2：启动相机节点</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id6">3.1.3.2. 回显话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#id7">3.1.3.3. 调用服务</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#rosbag2">3.1.3.4. 使用 rosbag2 录制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html">3.2. OrbbecViewer 快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id1">3.2.1. 下载</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id2">3.2.2. 连接设备</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id3">3.2.3. 相机控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/orbbecviewer.html#id4">3.2.4. 设备信息和固件升级</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1 current"><a class="reference internal" href="application_guide.html">4. 应用指南</a><ul class="current">
-<li class="toctree-l2"><a class="reference internal" href="launch_parameters.html">4.1. 启动参数</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id3">4.1.2. 传感器控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id4">4.1.2.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id5">4.1.2.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id6">4.1.2.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ldp">4.1.2.4. 激光 / LDP</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id7">4.1.3. 设备、同步与高级功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id8">4.1.3.1. 多相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id9">4.1.3.2. 网络相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id10">4.1.3.3. 设备特定</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id11">4.1.3.4. 视差</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#ae">4.1.3.5. 交错AE模式</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id12">4.1.3.6. 相机内同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id13">4.1.4. 基础与通用参数</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id14">4.1.4.1. 固件与后端</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#tf">4.1.4.2. TF、外参与校准</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id15">4.1.4.3. 时间同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id16">4.1.4.4. 日志与诊断</a></li>
-<li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#id17">4.1.4.5. 其他</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#imu">4.1.5. IMU</a></li>
-<li class="toctree-l3"><a class="reference internal" href="launch_parameters.html#id18">4.1.6. 深度滤波器</a></li>
-</ul>
-</li>
-<li class="toctree-l2 current"><a class="current reference internal" href="#">4.2. 所有可用的相机控制服务</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="#id2">4.2.1. 数据流控制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="#id3">4.2.1.1. 彩色流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id4">4.2.1.2. 深度流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id5">4.2.1.3. 红外流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="#id6">4.2.1.4. 所有数据流</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="#id7">4.2.2. 传感器与发射器控制</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id8">4.2.3. 设备信息与管理</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id9">4.2.4. 同步与触发</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id10">4.2.5. 深度滤波器配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="#id11">4.2.6. 数据捕获与校准管理</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="topics.html">4.3. 可用话题</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id2">4.3.1. 图像流</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="../5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="../7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="../7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="../8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="../8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
-</ul>
-
+</div>
         </div>
       </div>
     </nav>
 
     <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
           <i data-toggle="wy-nav-top" class="fa fa-bars"></i>
-          <a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
       </nav>
 
       <div class="wy-nav-content">
         <div class="rst-content">
           <div role="navigation" aria-label="页面导航">
   <ul class="wy-breadcrumbs">
-      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
-          <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>应用指南</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">4.2. </span>所有可用的相机控制服务</li>
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">所有可用的相机控制服务</li>
       <li class="wy-breadcrumbs-aside">
-            <a href="../../_sources/source/4_application_guide/services.md.txt" rel="nofollow"> 查看页面源码</a>
+            <a href="../../../_sources/source/camera_devices/4_application_guide/services.md.txt" rel="nofollow"> 查看页面源码</a>
       </li>
   </ul>
   <hr/>
@@ -380,14 +88,14 @@
            <div itemprop="articleBody">
              
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
-<h1><span class="section-number">4.2. </span>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<h1>所有可用的相机控制服务<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
 <blockquote>
 <div><p><strong>注意：</strong> 与特定数据流相关的服务（例如 <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>）仅在启动文件中启用该数据流时可用（例如 <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>）。</p>
 </div></blockquote>
 <section id="id2">
-<h2><span class="section-number">4.2.1. </span>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<h2>数据流控制<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
 <section id="id3">
-<h3><span class="section-number">4.2.1.1. </span>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<h3>彩色流<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_color</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_color<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -427,7 +135,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id4">
-<h3><span class="section-number">4.2.1.2. </span>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<h3>深度流<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_depth</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_depth<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -467,7 +175,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id5">
-<h3><span class="section-number">4.2.1.3. </span>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<h3>红外流<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/toggle_ir</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/toggle_ir<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -511,7 +219,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id6">
-<h3><span class="section-number">4.2.1.4. </span>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
+<h3>所有数据流<a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_streams_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/set_streams_enable</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_streams_enable<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -523,7 +231,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </section>
 </section>
 <section id="id7">
-<h2><span class="section-number">4.2.2. </span>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<h2>传感器与发射器控制<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_auto_white_balance</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_auto_white_balance</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_auto_white_balance<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -576,7 +284,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id8">
-<h2><span class="section-number">4.2.3. </span>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
+<h2>设备信息与管理<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_device_info</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_device_info<span class="w"> </span>orbbec_camera_msgs/srv/GetDeviceInfo
@@ -596,7 +304,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id9">
-<h2><span class="section-number">4.2.4. </span>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
+<h2>同步与触发<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/send_software_trigger</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/send_software_trigger<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -623,7 +331,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id10">
-<h2><span class="section-number">4.2.5. </span>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
+<h2>深度滤波器配置<a class="headerlink" href="#id10" title="Link to this heading"></a></h2>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_filter</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 设置DecimationFilter</span>
@@ -657,7 +365,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </ul>
 </section>
 <section id="id11">
-<h2><span class="section-number">4.2.6. </span>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
+<h2>数据捕获与校准管理<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
 <ul>
 <li><p><code class="docutils literal notranslate"><span class="pre">/camera/save_images</span></code></p>
 <div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/save_images<span class="w"> </span>std_srvs/srv/Empty<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
@@ -703,21 +411,33 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 </li>
 </ul>
 </section>
+<section id="id12">
+<h2>点云下采样<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
+<ul>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_point_cloud_decimation</span></code></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
+</pre></div>
+</div>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
+</pre></div>
+</div>
+</li>
+</ul>
+</section>
 </section>
 
 
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年12月15日 11:57:25.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/4_application_guide/topics.html b/zh/source/camera_devices/4_application_guide/topics.html
new file mode 100644
index 00000000..aedd85f3
--- /dev/null
+++ b/zh/source/camera_devices/4_application_guide/topics.html
@@ -0,0 +1,228 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>可用话题 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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+    <link rel="index" title="索引" href="../../../genindex.html" />
+    <link rel="search" title="搜索" href="../../../search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
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+            OrbbecSDK V2 ROS2 封装
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+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">可用话题</a><ul>
+<li><a class="reference internal" href="#id2">图像流</a></li>
+<li><a class="reference internal" href="#id3">点云话题</a></li>
+<li><a class="reference internal" href="#imu">IMU话题</a></li>
+<li><a class="reference internal" href="#id4">设备状态与诊断</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
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+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+        <div class="rst-content">
+          <div role="navigation" aria-label="页面导航">
+  <ul class="wy-breadcrumbs">
+      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">可用话题</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../_sources/source/camera_devices/4_application_guide/topics.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>可用话题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>话题按数据流和功能组织。默认情况下，所有话题都发布在 <code class="docutils literal notranslate"><span class="pre">/camera</span></code> 命名空间下，可以通过 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 启动参数进行更改。</p>
+<blockquote>
+<div><p><strong>注意：</strong> 特定数据流的话题（例如 <code class="docutils literal notranslate"><span class="pre">/camera/color/...</span></code>）只有在相应的启动参数（例如 <code class="docutils literal notranslate"><span class="pre">enable_color</span></code>）设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时才会发布。</p>
+</div></blockquote>
+<section id="id2">
+<h2>图像流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>这些话题提供每个启用的相机数据流的原始图像数据和相应的校准信息。对于 <code class="docutils literal notranslate"><span class="pre">color</span></code>、<code class="docutils literal notranslate"><span class="pre">depth</span></code>、<code class="docutils literal notranslate"><span class="pre">ir</span></code>、<code class="docutils literal notranslate"><span class="pre">left_ir</span></code> 和 <code class="docutils literal notranslate"><span class="pre">right_ir</span></code> 数据流，模式是一致的。</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/image_raw</span></code></p>
+<ul>
+<li><p>彩色流的原始图像数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/camera_info</span></code></p>
+<ul>
+<li><p>彩色流的相机校准数据和元数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/color/metadata</span></code></p>
+<ul>
+<li><p>来自彩色流固件的底层元数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/image_raw</span></code></p>
+<ul>
+<li><p>深度流的原始图像数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/camera_info</span></code></p>
+<ul>
+<li><p>深度流的相机校准数据和元数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/metadata</span></code></p>
+<ul>
+<li><p>来自深度流固件的底层元数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/image_raw</span></code></p>
+<ul>
+<li><p>红外（IR）流的原始图像数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/camera_info</span></code></p>
+<ul>
+<li><p>IR流的相机校准数据和元数据。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/ir/metadata</span></code></p>
+<ul>
+<li><p>来自IR流固件的底层元数据。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="id3">
+<h2>点云话题<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth/points</span></code></p>
+<ul>
+<li><p>从深度流生成的点云数据。</p></li>
+<li><p><strong>条件：</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_registered/points</span></code></p>
+<ul>
+<li><p>彩色点云数据，其中深度点配准到彩色图像帧。</p></li>
+<li><p><strong>条件：</strong> 仅在 <code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="imu">
+<h2>IMU话题<a class="headerlink" href="#imu" title="Link to this heading"></a></h2>
+<p>惯性测量单元（IMU）话题提供加速度计和陀螺仪数据。其行为取决于同步设置。</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/accel/sample</span></code></p>
+<ul>
+<li><p>单独的加速度计数据流。</p></li>
+<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_accel</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro/sample</span></code></p>
+<ul>
+<li><p>单独的陀螺仪数据流。</p></li>
+<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 且 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">false</span></code> 时发布。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/gyro_accel/sample</span></code></p>
+<ul>
+<li><p>包含加速度计和陀螺仪数据的同步数据流（单条消息）。</p></li>
+<li><p><strong>条件：</strong> 在 <code class="docutils literal notranslate"><span class="pre">enable_sync_output_accel_gyro</span></code> 为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时发布。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="id4">
+<h2>设备状态与诊断<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/device_status</span></code></p>
+<ul>
+<li><p>报告相机设备的当前状态。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/camera/depth_filter_status</span></code></p>
+<ul>
+<li><p>报告深度传感器后处理滤波器的状态。</p></li>
+</ul>
+</li>
+<li><p><code class="docutils literal notranslate"><span class="pre">/diagnostics</span></code></p>
+<ul>
+<li><p>发布相机节点的诊断信息。目前包括设备温度。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+</section>
+
+
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+          </div>
+          <footer>
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html
new file mode 100644
index 00000000..f655afe8
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html
@@ -0,0 +1,203 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>高级指南 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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+    <link rel="shortcut icon" href="../../../_static/orbbec_footerlogo_3d_world.svg"/>
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+    <link rel="index" title="索引" href="../../../genindex.html" />
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+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">高级指南</a><ul>
+<li><a class="reference internal" href="#id2">性能与优化</a></li>
+<li><a class="reference internal" href="#id3">多相机</a></li>
+<li><a class="reference internal" href="#id4">配置与模式</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
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+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+      <li class="breadcrumb-item active">高级指南</li>
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+            <a href="../../../_sources/source/camera_devices/5_advanced_guide/advanced_guide.rst.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>高级指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章介绍SDK的高级功能，包括多相机使用和特殊配置模式。</p>
+<section id="id2">
+<h2>性能与优化<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="performance/lower_cpu_usage.html">使用Orbbec ROS包降低CPU使用率</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#cpu">降低CPU使用率的推荐设置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id1">用于测试的启动文件</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id2">测试环境</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id3">测试设置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id4">测试结果</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/lower_cpu_usage.html#id5">进一步优化</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="performance/efficient_intra_process_communication.html">高效的进程内通信：</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id2">简介</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/efficient_intra_process_communication.html#id3">示例</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="performance/fastdds_tuning.html">针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#id1">调整系统参数</a></li>
+<li class="toctree-l2"><a class="reference internal" href="performance/fastdds_tuning.html#fast-dds">Fast DDS配置</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+<section id="id3">
+<h2>多相机<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera.html">多相机</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#id2">多相机无数据流</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera.html#id3">多相机图像话题帧率过低</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced.html">多相机同步说明</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id2">设置说明</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#orbbecsdk-ros2">使用 OrbbecSDK_ROS2 检查相机端口</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id3">OrbbecSDK_ROS2 多相机同步配置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced.html#id4">运行以下命令启动多相机同步</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html">多相机同步验证节点</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id2">使用教程</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/multi_camera_synced_verification_tool.html#id5">必要系统配置</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="multi_camera/gmsl_camera.html">GMSL 相机</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id1">单个 GMSL 相机</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id2">多个 GMSL 相机</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id3">多个 GMSL 相机同步</a></li>
+<li class="toctree-l2"><a class="reference internal" href="multi_camera/gmsl_camera.html#id4">GMSL 相机的使用限制</a></li>
+</ul>
+</li>
+</ul>
+</div>
+</section>
+<section id="id4">
+<h2>配置与模式<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="configuration/align_depth_color.html">在 ROS 2 中对齐深度到彩色</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#id1">对齐和查看深度和彩色图像的命令</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#rviz2">在 RViz2 中选择话题</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/align_depth_color.html#id2">深度到彩色叠加示例</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">深度 NFOV 和 WFOV 模式配置</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/depth_work_mode_switch.html">深度工作模式切换</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/disparity_search_offset.html">视差搜索偏移</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id2">功能介绍</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id3">参数介绍</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/disparity_search_offset.html#id4">运行启动文件</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/interleave_ae_mode.html">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id1">参数介绍</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#id2">运行启动文件</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/predefined_presets.html">预定义预设</a></li>
+<li class="toctree-l1"><a class="reference internal" href="configuration/net_camera.html">网络相机</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#set-device-ip">set_device_ip 工具</a></li>
+<li class="toctree-l2"><a class="reference internal" href="configuration/net_camera.html#ip">强制 IP 功能</a></li>
+</ul>
+</li>
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diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html
new file mode 100644
index 00000000..8c29173b
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+
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+  <title>在 ROS 2 中对齐深度到彩色 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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+            OrbbecSDK V2 ROS2 封装
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+<li><a class="reference internal" href="#">在 ROS 2 中对齐深度到彩色</a><ul>
+<li><a class="reference internal" href="#id1">对齐和查看深度和彩色图像的命令</a></li>
+<li><a class="reference internal" href="#rviz2">在 RViz2 中选择话题</a></li>
+<li><a class="reference internal" href="#id2">深度到彩色叠加示例</a></li>
+</ul>
+</li>
+</ul>
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+      <li class="breadcrumb-item active">在 ROS 2 中对齐深度到彩色</li>
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+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md.txt" rel="nofollow"> 查看页面源码</a>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="ros-2">
+<h1>在 ROS 2 中对齐深度到彩色<a class="headerlink" href="#ros-2" title="Link to this heading"></a></h1>
+<p>本节说明如何使用 ROS 2 将深度图像与彩色图像对齐以创建叠加图像。这对于需要来自不同传感器模态的同步视觉信息的应用特别有用。</p>
+<section id="id1">
+<h2>对齐和查看深度和彩色图像的命令<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<ol>
+<li><p><strong>基本深度到彩色对齐：</strong></p>
+<p>要简单地将深度图像对齐到彩色图像，请使用以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+<p>此命令激活深度配准功能，但不打开查看器。</p>
+</li>
+<li><p><strong>查看深度到彩色叠加：</strong></p>
+<p>如果您希望查看深度到彩色叠加，需要使用以下命令启用查看器：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>depth_registration:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>enable_d2c_viewer:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+<p>这将启动带有深度到彩色配准的相机节点并打开查看器以显示叠加图像。</p>
+</li>
+</ol>
+</section>
+<section id="rviz2">
+<h2>在 RViz2 中选择话题<a class="headerlink" href="#rviz2" title="Link to this heading"></a></h2>
+<p>要在 RViz2 中可视化对齐的图像：</p>
+<ol>
+<li><p>运行上述命令之一后启动 RViz2。</p></li>
+<li><p>选择深度到彩色叠加图像的话题。话题选择示例如下所示：</p>
+<p><img alt="深度到彩色叠加的话题选择" src="../../../../_images/image31.png" /></p>
+</li>
+</ol>
+</section>
+<section id="id2">
+<h2>深度到彩色叠加示例<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>在 RViz2 中选择适当的话题后，您将能够看到深度到彩色叠加图像。它可能看起来像这样：</p>
+<p><img alt="深度到彩色叠加图像" src="../../../../_images/image4.jpg" /></p>
+</section>
+</section>
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diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html b/zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html
new file mode 100644
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@@ -0,0 +1,115 @@
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+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="nfov-wfov">
+<h1>深度 NFOV 和 WFOV 模式配置<a class="headerlink" href="#nfov-wfov" title="Link to this heading"></a></h1>
+<p>对于 Femto Mega 和 Femto Bolt 设备，NFOV 和 WFOV 模式通过在启动文件中配置深度和 IR 的分辨率来实现。</p>
+<p>在启动文件中，depth_width、depth_height、ir_width、ir_height 分别表示深度的分辨率和 IR 的分辨率。</p>
+<p>IR 的帧率和分辨率必须与深度保持一致。不同模式与分辨率的对应关系如下：</p>
+<ul class="simple">
+<li><p>NFOV unbinned：640 x 576</p></li>
+<li><p>NFOV binned：320 x 288</p></li>
+<li><p>WFOV unbinned：1024 x 1024</p></li>
+<li><p>WFOV binned：512 x 512</p></li>
+</ul>
+</section>
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
new file mode 100644
index 00000000..85cb239e
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html
@@ -0,0 +1,133 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>深度工作模式切换 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
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+
+<body class="wy-body-for-nav"> 
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+            OrbbecSDK V2 ROS2 封装
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
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+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">深度工作模式切换</a></li>
+</ul>
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+
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+      <li class="breadcrumb-item active">深度工作模式切换</li>
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+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>深度工作模式切换<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>Orbbec SDK ROS 2 支持深度工作模式切换。Gemini 2、Gemini 2 L 和 Femto 以及 Femto Bolt 相机支持深度工作模式切换。</p>
+<ul class="simple">
+<li><p>在启动相机之前，可以为相应的 xxx.launch.py 文件的支持配置深度工作模式（depth_work_mode）。</p></li>
+<li><p>Gemini 2、Gemini 2 L 和 Gemini 2 XL 相机支持深度工作模式切换。</p></li>
+<li><p>xxx.launch.py 的默认深度工作模式配置是相机的默认配置。如果需要修改，可以根据需要切换到相应的模式。</p></li>
+<li><p>具体相机深度工作模式支持类型可以在深度模式的注释中找到。</p></li>
+</ul>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="c1"># 深度工作模式支持如下：</span>
+<span class="c1"># Unbinned Dense Default</span>
+<span class="c1"># Unbinned Sparse Default</span>
+<span class="c1"># Binned Sparse Default</span>
+<span class="c1"># Obstacle Avoidance</span>
+<span class="n">DeclareLaunchArgument</span><span class="p">(</span><span class="s1">&#39;depth_work_mode&#39;</span><span class="p">,</span> <span class="n">default_value</span><span class="o">=</span><span class="s1">&#39;&#39;</span><span class="p">)</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>查看深度工作模式：</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_depth_work_mode_node
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>示例：</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini2L.launch.py<span class="w"> </span>depth_work_mode:<span class="o">=</span><span class="s2">&quot;Unbinned Dense Default&quot;</span>
+</pre></div>
+</div>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
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diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
new file mode 100644
index 00000000..efcdae45
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html
@@ -0,0 +1,202 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>视差搜索偏移 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
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+      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
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+    <link rel="index" title="索引" href="../../../../genindex.html" />
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+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
+    <input type="hidden" name="check_keywords" value="yes" />
+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">视差搜索偏移</a><ul>
+<li><a class="reference internal" href="#id2">功能介绍</a></li>
+<li><a class="reference internal" href="#id3">参数介绍</a></li>
+<li><a class="reference internal" href="#id4">运行启动文件</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
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+      <li><a href="../../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active">视差搜索偏移</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>视差搜索偏移<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p>本节介绍如何在 Gemini330 系列相机中使用 disparity_search_offset 功能（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.60</a>）。Disparity_search_offset 仅对深度流的 1280×720、1280×800 和 640×400 分辨率有效。</p>
+</div></blockquote>
+<section id="id2">
+<h2>功能介绍<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>视差搜索范围的定义：对于左图像中的任何像素 <em>(u_l, v)</em>，默认情况下，右图像中对应的视差搜索范围为 <em>[ (u_l - 255, v)</em>, <em>(u_l, v) ]</em>，其中视差搜索长度为 256，最大整数视差为 255。如果将搜索的起点调整为 <em>[ (u_l - 255 - offset, v)</em>, <em>(u_l - offset, v) ]</em>，则偏移量定义为视差偏移。因此，我们的视差搜索范围配置包括视差搜索长度和搜索位置偏移（也可称为视差偏移）。</p>
+<p><img alt="深度点云可视化" src="../../../../_images/search_offset0.png" /></p>
+</section>
+<section id="id3">
+<h2>参数介绍<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>disparity_search_offset 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">disparity_range_mode</span></code>：视差搜索长度，只能设置为 64、128 和 256。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">disparity_search_offset</span></code>：视差搜索偏移值，可以设置为 0 到 127。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">disparity_offset_config</span></code>：视差搜索偏移交错帧。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">offset_index0</span></code>：帧 0 视差搜索偏移值。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">offset_index1</span></code>：帧 1 视差搜索偏移值。</p></li>
+</ul>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">视差范围模式</th>
+<th style="text-align: center;">视差搜索偏移</th>
+<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;">64</td>
+<td style="text-align: center;">85</td>
+<td style="text-align: center;">Gemini 335L  388-406</td>
+</tr>
+<tr>
+<td style="text-align: center;">64</td>
+<td style="text-align: center;">127</td>
+<td style="text-align: center;">Gemini 335L  302-317</td>
+</tr>
+</tbody>
+</table><table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">视差范围模式</th>
+<th style="text-align: center;">视差搜索偏移</th>
+<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;">128</td>
+<td style="text-align: center;">0</td>
+<td style="text-align: center;">Gemini 335  233-249<br />Gemini 335L  453-475</td>
+</tr>
+<tr>
+<td style="text-align: center;">128</td>
+<td style="text-align: center;">45</td>
+<td style="text-align: center;">Gemini 335  172-184<br />Gemini 335L  334-349</td>
+</tr>
+<tr>
+<td style="text-align: center;">128</td>
+<td style="text-align: center;">127</td>
+<td style="text-align: center;">Gemini 335  117-125<br />Gemini 335L  226-236</td>
+</tr>
+</tbody>
+</table><table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">视差范围模式</th>
+<th style="text-align: center;">视差搜索偏移</th>
+<th style="text-align: center;">倾斜墙最小深度 (mm)</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;">256</td>
+<td style="text-align: center;">85</td>
+<td style="text-align: center;">Gemini 335L  169-178</td>
+</tr>
+<tr>
+<td style="text-align: center;">256</td>
+<td style="text-align: center;">127</td>
+<td style="text-align: center;">Gemini 335L  151-158</td>
+</tr>
+</tbody>
+</table></section>
+<section id="id4">
+<h2>运行启动文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p>设置 disparity_search_offset 参数，重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
+</pre></div>
+</div>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
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+      });
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+
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+</html>
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diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
new file mode 100644
index 00000000..ed0278ca
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html
@@ -0,0 +1,166 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>在 Gemini330 系列相机中使用 interleave_ae &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
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+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="索引" href="../../../../genindex.html" />
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+<body class="wy-body-for-nav"> 
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+<li><a class="reference internal" href="#">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
+<li><a class="reference internal" href="#id1">参数介绍</a></li>
+<li><a class="reference internal" href="#id2">运行启动文件</a></li>
+<li><a class="reference internal" href="#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+      <li class="breadcrumb-item active">在 Gemini330 系列相机中使用 interleave_ae</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="gemini330-interleave-ae">
+<h1>在 Gemini330 系列相机中使用 interleave_ae<a class="headerlink" href="#gemini330-interleave-ae" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p>本节介绍如何在 Gemini 330 系列相机中使用 interleave_ae（相机固件最低版本 <a class="reference external" href="https://www.orbbec.com/docs/g330-firmware-release/">1.4.00</a>）</p>
+</div></blockquote>
+<section id="id1">
+<h2>参数介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p>interleave_ae 相关参数在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> 中设置</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code>：设置激光或 hdr 交错。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code>：启用交错帧模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_enable</span></code>：启用跳帧模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">interleave_skip_index</span></code>：设置为 0 跳过图案 ir，设置为 1 跳过泛光 ir。</p></li>
+</ul>
+<p><strong>interleave hdr</strong></p>
+<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">hdr</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时，将启用 interleave hdr</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_laser_control</span></code>：帧 1 激光开关设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_exposure</span></code>：帧 1 深度曝光值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_depth_gain</span></code>：帧 1 深度增益值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_brightness</span></code>：帧 1 ir 增益值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index1_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 1 ir 最大曝光值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_laser_control</span></code>：帧 0 激光开关设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_exposure</span></code>：帧 0 深度曝光值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_depth_gain</span></code>：帧 0 深度增益值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_brightness</span></code>：帧 0 ir 增益值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">hdr_index0_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 0 ir 最大曝光值设置。</p></li>
+</ul>
+<p><strong>interleave laser</strong></p>
+<p>当 <code class="docutils literal notranslate"><span class="pre">interleave_ae_mode</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">laser</span></code> 且 <code class="docutils literal notranslate"><span class="pre">interleave_frame_enable</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 时，将启用 interleave laser</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_laser_control</span></code>：帧 1 激光开关设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_exposure</span></code>：帧 1 深度曝光值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_depth_gain</span></code>：帧 1 深度增益值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_brightness</span></code>：帧 1 ir 增益值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index1_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 1 ir 最大曝光值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_laser_control</span></code>：帧 0 激光开关设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_exposure</span></code>：帧 0 深度曝光值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_depth_gain</span></code>：帧 0 深度增益值设置，非 AE 模式。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_brightness</span></code>：帧 0 ir 增益值设置。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">laser_index0_ir_ae_max_exposure</span></code>：AE（自动曝光）中帧 0 ir 最大曝光值设置。</p></li>
+</ul>
+</section>
+<section id="id2">
+<h2>运行启动文件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>设置 interleave_ae 参数，重新 <code class="docutils literal notranslate"><span class="pre">colcon</span> <span class="pre">build</span></code> 并运行启动文件</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py
+</pre></div>
+</div>
+<p><strong>示例可视化</strong></p>
+<p><img alt="深度点云可视化" src="../../../../_images/interleave_ae0.jpeg" /></p>
+<p><img alt="深度点云可视化" src="../../../../_images/interleave_ae1.jpeg" /></p>
+</section>
+<section id="multi-camera-synced-interleave-ae">
+<h2>Multi_camera_synced + Interleave_ae<a class="headerlink" href="#multi-camera-synced-interleave-ae" title="Link to this heading"></a></h2>
+<p>请参考 <a class="reference external" href="./multi_camera_synced">multi_camera_synced</a> 和 <a class="reference external" href="#%E5%8F%82%E6%95%B0%E4%BB%8B%E7%BB%8D">参数介绍</a></p>
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+<li><a class="reference internal" href="#">网络相机</a><ul>
+<li><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
+<li><a class="reference internal" href="#set-device-ip">set_device_ip 工具</a></li>
+<li><a class="reference internal" href="#ip">强制 IP 功能</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/configuration/net_camera.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>网络相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用网络相机。目前仅支持 Femto_Mega、Gemini 335Le 和 Gemini 435Le 设备，其他网络设备将在不久的将来得到支持。</p>
+</div></blockquote>
+<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
+<section id="femto-mega-gemini-435le-gemini-335le">
+<h2>Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le<a class="headerlink" href="#femto-mega-gemini-435le-gemini-335le" title="Link to this heading"></a></h2>
+<p><strong>参数介绍</strong></p>
+<p>网络设备设置：<code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 true，将自动枚举网络设备。</p>
+<p>如果您不想自动枚举网络设备，可以将 <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> 设置为 false，将 <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 设置为设备的 IP 地址，并将 <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> 设置为默认值 8090。</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code>：启用自动枚举网络设备。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code>：设置网络设备的 IP 地址。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code>：设置网络设备的端口。通常可以设置为 8090。</p></li>
+</ul>
+<p><strong>单个网络相机</strong></p>
+<blockquote>
+<div><p>如果您需要运行 Gemini 435Le/Gemini 335Le，只需在运行命令中将 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 替换为 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a>/<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a></p>
+</div></blockquote>
+<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> 为例：</p>
+<ul class="simple">
+<li><p><strong>自动枚举网络设备：</strong></p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><strong>指定 IP 地址启动设备：</strong></p></li>
+</ul>
+<p>注意：<code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> 需要更改为设备的 IP 地址，这里是 192.168.1.10</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
+</pre></div>
+</div>
+<p><strong>多个网络相机</strong></p>
+<p>以 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> 为例：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
+</pre></div>
+</div>
+</section>
+<section id="set-device-ip">
+<h2>set_device_ip 工具<a class="headerlink" href="#set-device-ip" title="Link to this heading"></a></h2>
+<p><strong><code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code></strong> 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。</p>
+<blockquote>
+<div><p><strong>注意：<strong>使用 <code class="docutils literal notranslate"><span class="pre">set_device_ip</span></code> 应用的 IP 设置是</strong>永久性的</strong>，如果设备断电或重启，<strong>不会重置</strong>。</p>
+</div></blockquote>
+<p><strong>示例用法</strong></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>set_device_ip<span class="w"> </span>--ros-args<span class="w"> </span><span class="se">\</span>
+-p<span class="w"> </span>old_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span><span class="se">\</span>
+-p<span class="w"> </span>dhcp:<span class="o">=</span><span class="nb">false</span><span class="w"> </span><span class="se">\</span>
+-p<span class="w"> </span>new_ip:<span class="o">=</span><span class="m">192</span>.168.1.11<span class="w"> </span><span class="se">\</span>
+-p<span class="w"> </span>mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
+-p<span class="w"> </span>gateway:<span class="o">=</span><span class="m">192</span>.168.1.1
+</pre></div>
+</div>
+<p><strong>参数</strong></p>
+<ul class="simple">
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">old_ip</span></code></strong> – 设备的当前 IP 地址。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">dhcp</span></code></strong> – 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 使用 DHCP 或 <code class="docutils literal notranslate"><span class="pre">false</span></code> 使用静态 IP。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">new_ip</span></code></strong> – 禁用 DHCP 时要分配的静态 IP 地址。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">mask</span></code></strong> – 新 IP 的子网掩码。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">gateway</span></code></strong> – 新 IP 的网关地址。</p></li>
+</ul>
+</section>
+<section id="ip">
+<h2>强制 IP 功能<a class="headerlink" href="#ip" title="Link to this heading"></a></h2>
+<p><strong>强制 IP</strong> 功能允许您为网络相机分配<strong>静态 IP 地址</strong>，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。</p>
+<blockquote>
+<div><p><strong>注意：<strong>如果设备断电或重启，强制 IP 配置</strong>将被重置</strong>。您需要在重启后重新应用设置。</p>
+</div></blockquote>
+<p><strong>参数</strong></p>
+<ul class="simple">
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_enable</span></code></strong> – 启用强制 IP 功能。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_mac</span></code></strong> – 连接多个相机时的目标设备 MAC 地址（例如 <code class="docutils literal notranslate"><span class="pre">&quot;54:14:FD:06:07:DA&quot;</span></code>）。您可以使用 <code class="docutils literal notranslate"><span class="pre">list_devices_node</span></code> 查找每个设备的 MAC。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">&quot;&quot;</span></code></p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_address</span></code></strong> – 要分配的静态 IP 地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.10</span></code></p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_subnet_mask</span></code></strong> – 静态 IP 的子网掩码。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">255.255.255.0</span></code></p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">force_ip_gateway</span></code></strong> – 静态 IP 的网关地址。<strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">192.168.1.1</span></code></p></li>
+</ul>
+<p><strong>示例用法</strong></p>
+<ul class="simple">
+<li><p><strong>为特定设备启用强制 IP：</strong></p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span><span class="se">\</span>
+force_ip_enable:<span class="o">=</span><span class="nb">true</span><span class="w"> </span><span class="se">\</span>
+force_ip_mac:<span class="o">=</span><span class="m">54</span>:14:FD:06:07:DA<span class="w"> </span><span class="se">\</span>
+force_ip_address:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
+force_ip_subnet_mask:<span class="o">=</span><span class="m">255</span>.255.255.0<span class="w"> </span><span class="se">\</span>
+force_ip_gateway:<span class="o">=</span><span class="m">192</span>.168.1.1<span class="w"> </span><span class="se">\</span>
+net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.50<span class="w"> </span><span class="se">\</span>
+net_device_port:<span class="o">=</span><span class="m">8090</span>
+</pre></div>
+</div>
+</section>
+</section>
+
+
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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new file mode 100644
index 00000000..60d92d30
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+
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+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>预定义预设<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th>预设</th>
+<th>特点</th>
+<th>推荐使用场景</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>Default</td>
+<td>- 最佳视觉感知<br>- 在精度、填充率、微小物体等方面的整体性能良好</td>
+<td>- 通用场景<br>- 机器人应用</td>
+</tr>
+<tr>
+<td>Hand</td>
+<td>- 清晰的手部和手指边缘</td>
+<td>- 手势识别</td>
+</tr>
+<tr>
+<td>High Accuracy</td>
+<td>- 高置信度深度<br>- 几乎无噪声深度值<br>- 填充率较低</td>
+<td>- 避障<br>- 物体扫描</td>
+</tr>
+<tr>
+<td>High Density</td>
+<td>- 更高填充率<br>- 更多微小物体<br>- 可能存在噪声深度值</td>
+<td>- 物体识别<br>- 抓取和放置<br>- 前景和背景动画</td>
+</tr>
+<tr>
+<td>Medium Density</td>
+<td>- 填充率和精度的平衡性能<br>- 与 Default 相比：填充率较低，边缘质量更好</td>
+<td>- 通用场景和 Default 的替代方案</td>
+</tr>
+<tr>
+<td>Custom</td>
+<td>- 用户自定义预设<br>- 从上述预设派生，具有自定义修改，例如后处理管道的新配置、深度 AE 功能的修改平均强度设定点等</td>
+<td>- 通过使用自定义配置可获得比预定义预设更好的深度性能<br>- 适用于已建立的自定义配置</td>
+</tr>
+</tbody>
+</table><p>根据您的具体使用场景选择合适的预设名称，并将其设置为 <code class="docutils literal notranslate"><span class="pre">device_preset</span></code> 参数的值。</p>
+</section>
+
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
new file mode 100644
index 00000000..0f2d968c
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html
@@ -0,0 +1,173 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
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+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">GMSL 相机</a><ul>
+<li><a class="reference internal" href="#id1">单个 GMSL 相机</a></li>
+<li><a class="reference internal" href="#id2">多个 GMSL 相机</a></li>
+<li><a class="reference internal" href="#id3">多个 GMSL 相机同步</a></li>
+<li><a class="reference internal" href="#id4">GMSL 相机的使用限制</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
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+
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+      <li class="breadcrumb-item active">GMSL 相机</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="gmsl">
+<h1>GMSL 相机<a class="headerlink" href="#gmsl" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p>本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg 和 Gemini 345Lg 设备，其他 GMSL 设备将在不久的将来得到支持。</p>
+</div></blockquote>
+<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
+<section id="id1">
+<h2>单个 GMSL 相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p>GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_gmsl.launch.py
+</pre></div>
+</div>
+</section>
+<section id="id2">
+<h2>多个 GMSL 相机<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>要获取 GMSL 相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+<p>例如，获得的 gmsl 相机 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>：<code class="docutils literal notranslate"><span class="pre">gmsl2-1</span></code></p>
+<p>转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py">multi_gmsl_camera.launch.py</a> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_gmsl_camera.launch.py
+</pre></div>
+</div>
+<blockquote>
+<div><p>注意：默认情况下，multi_gmsl_camera.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 进行修改。</p>
+</div></blockquote>
+</section>
+<section id="id3">
+<h2>多个 GMSL 相机同步<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>首先，请查看如何使用 <a class="reference internal" href="multi_camera_synced.html"><span class="doc">multi_camera_synced</span></a>。</p>
+<p>此外，GMSL 多相机同步不需要 Multi-Camera Sync Hub Pro，因此无需设置 <code class="docutils literal notranslate"><span class="pre">primary</span></code> 模式。每个 GMSL 相机都是 <code class="docutils literal notranslate"><span class="pre">secondary</span></code>。</p>
+<p><strong>额外的参数设置</strong></p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code>：设置硬件 soc 触发源帧率。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code>：启用硬件 soc 触发。</p></li>
+</ul>
+<p><strong>运行启动文件</strong></p>
+<p>请参考 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py">multi_gmsl_camera_synced.launch.py</a> 中的配置。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_gmsl_camera_synced.launch.py
+</pre></div>
+</div>
+<blockquote>
+<div><p>注意：默认情况下，multi_gmsl_camera_synced.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml">camera_secondary_params.yaml</a> 进行修改。</p>
+</div></blockquote>
+</section>
+<section id="id4">
+<h2>GMSL 相机的使用限制<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p>GMSL 相机与各种反序列化器芯片（如 MAX9296 和 MAX92716）接口。Orbbec GMSL 相机支持多个流，包括深度、彩色、IR 和 IMU 数据，但存在某些使用限制：</p>
+<ul class="simple">
+<li><p>GMSL 仅支持 V4L2 和 YUYV 格式；不支持 MJPG 格式。RGB 输出源自 YUYV 格式转换。</p></li>
+<li><p>Gemini-335Lg 的元数据通过单独的节点提供，而其他型号的元数据嵌入在视频帧中，这对用户保持透明。</p></li>
+<li><p>当使用 Max96712 作为反序列化器芯片时，由于 Max96712 芯片的特性，在 secondary_synced 模式下必须提供多机同步触发信号。否则，在切换数据流时会发生数据流中断。</p></li>
+<li><p>连接在同一个 MAX9296、MAX96712 LinkA/B 或 MAX96712 LinkC/D 上的两个相机有以下限制：</p>
+<ul>
+<li><p>在驱动程序版本 v1.2.02 之前，存在一个限制，即一个相机的 RGB 和另一个相机的右 IR 不能同时流式传输。在驱动程序版本 v1.2.02 之后，限制修改为一个相机的 RGB 和另一个相机的左 IR 不能同时流式传输。</p></li>
+<li><p>在驱动程序版本 v1.2.02 之前，存在一个限制，即一个相机的 DEPTH 和另一个相机的左 IR 不能同时流式传输。在驱动程序版本 v1.2.02 之后，限制修改为一个相机的 DEPTH 和另一个相机的右 IR 不能同时流式传输。</p></li>
+<li><p>两个相机的活动流的组合最大数量限制为四个（满足上述两个条件即可确保合规）。</p></li>
+</ul>
+</li>
+</ul>
+<p>有关更多已知限制，请参考 <a class="reference external" href="https://github.com/orbbec/MIPI_Camera_Platform_Driver/blob/main/doc/Instructions%20for%20Using%20GMSL%20Camera.md">Orbbec GMSL 相机的使用限制</a></p>
+</section>
+</section>
+
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
new file mode 100644
index 00000000..0c20a0dd
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+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html
@@ -0,0 +1,200 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>多相机 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
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+    <link rel="shortcut icon" href="../../../../_static/orbbec_footerlogo_3d_world.svg"/>
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+<li><a class="reference internal" href="#">多相机</a><ul>
+<li><a class="reference internal" href="#id2">多相机无数据流</a></li>
+<li><a class="reference internal" href="#id3">多相机图像话题帧率过低</a></li>
+</ul>
+</li>
+</ul>
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+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.md.txt" rel="nofollow"> 查看页面源码</a>
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+  <hr/>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>多相机<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<ul class="simple">
+<li><p>要获取相机的 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>，插入相机并在终端中运行以下命令：</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 参数设置为您拥有的相机数量。</p></li>
+<li><p>转到 <code class="docutils literal notranslate"><span class="pre">OrbbecSDK_ROS2/launch/multi_xxx.launch.py</span></code> 文件并更改 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code>。</p></li>
+<li><p>不要忘记将 <code class="docutils literal notranslate"><span class="pre">include</span></code> 标签放在 <code class="docutils literal notranslate"><span class="pre">group</span></code> 标签内。
+否则，不同相机的参数值可能会被污染。</p></li>
+</ul>
+<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">DeclareLaunchArgument</span><span class="p">,</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">ExecuteProcess</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
+<span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
+
+
+<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
+    <span class="c1"># Include launch files</span>
+    <span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s1">&#39;orbbec_camera&#39;</span><span class="p">)</span>
+    <span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s1">&#39;launch&#39;</span><span class="p">)</span>
+    <span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">&#39;gemini2L.launch.py&#39;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s1">&#39;camera_name&#39;</span><span class="p">:</span> <span class="s1">&#39;camera_01&#39;</span><span class="p">,</span>
+            <span class="s1">&#39;usb_port&#39;</span><span class="p">:</span> <span class="s1">&#39;6-2.4.4.2&#39;</span><span class="p">,</span>  <span class="c1"># replace your usb port here</span>
+            <span class="s1">&#39;device_num&#39;</span><span class="p">:</span> <span class="s1">&#39;2&#39;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+    <span class="p">)</span>
+
+    <span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s1">&#39;gemini2L.launch.py&#39;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s1">&#39;camera_name&#39;</span><span class="p">:</span> <span class="s1">&#39;camera_02&#39;</span><span class="p">,</span>
+            <span class="s1">&#39;usb_port&#39;</span><span class="p">:</span> <span class="s1">&#39;6-2.4.1&#39;</span><span class="p">,</span>  <span class="c1"># replace your usb port here</span>
+            <span class="s1">&#39;device_num&#39;</span><span class="p">:</span> <span class="s1">&#39;2&#39;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">()</span>
+    <span class="p">)</span>
+
+    <span class="c1"># If you need more cameras, just add more launch_include here, and change the usb_port and device_num</span>
+
+    <span class="c1"># Launch description</span>
+    <span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">([</span>
+        <span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">]),</span>
+        <span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">]),</span>
+    <span class="p">])</span>
+
+    <span class="k">return</span> <span class="n">ld</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>要启动相机，运行以下命令：</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera.launch.py
+</pre></div>
+</div>
+<section id="id2">
+<h2>多相机无数据流<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p><strong>电源供应不足</strong>：</p>
+<ul class="simple">
+<li><p>确保每个相机连接到单独的集线器。</p></li>
+<li><p>使用带电源的集线器为每个相机提供足够的电力。</p></li>
+</ul>
+<p><strong>高分辨率</strong>：</p>
+<ul class="simple">
+<li><p>尝试降低分辨率以解决数据流问题。</p></li>
+</ul>
+<p><strong>增加 usbfs_memory_mb 值</strong>：</p>
+<ul class="simple">
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到 128MB（这是一个参考值，可以根据系统需求进行调整）
+通过运行以下命令：</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">    </span><span class="nb">echo</span><span class="w"> </span><span class="m">128</span><span class="w"> </span><span class="p">|</span><span class="w"> </span>sudo<span class="w"> </span>tee<span class="w"> </span>/sys/module/usbcore/parameters/usbfs_memory_mb
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>要使此更改永久生效，请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
+</ul>
+</section>
+<section id="id3">
+<h2>多相机图像话题帧率过低<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>请参考 <a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">Fast DDS 配置</span></a> 文件。</p>
+</section>
+</section>
+
+
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
new file mode 100644
index 00000000..3b1ac360
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html
@@ -0,0 +1,190 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
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+<li><a class="reference internal" href="#">多相机同步说明</a><ul>
+<li><a class="reference internal" href="#id2">设置说明</a></li>
+<li><a class="reference internal" href="#orbbecsdk-ros2">使用 OrbbecSDK_ROS2 检查相机端口</a></li>
+<li><a class="reference internal" href="#id3">OrbbecSDK_ROS2 多相机同步配置</a></li>
+<li><a class="reference internal" href="#id4">运行以下命令启动多相机同步</a></li>
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+      <li class="breadcrumb-item active">多相机同步说明</li>
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+  <hr/>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>多相机同步说明<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<blockquote>
+<div><p>本文档的目的是说明如何在 OrbbecSDK_ROS2 中使用多相机同步</p>
+</div></blockquote>
+<section id="id2">
+<h2>设置说明<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>请阅读多相机同步设置指南：<a class="reference external" href="https://www.orbbec.com/docs/set-up-cameras-for-external-synchronization_v1-2/">多相机同步设置</a></p></li>
+<li><p>确保相机正确连接到多相机同步器。</p></li>
+</ul>
+<p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced1.png" /></p>
+</section>
+<section id="orbbecsdk-ros2">
+<h2>使用 OrbbecSDK_ROS2 检查相机端口<a class="headerlink" href="#orbbecsdk-ros2" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+</section>
+<section id="id3">
+<h2>OrbbecSDK_ROS2 多相机同步配置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>打开 multi_camera_synced.launch.py，并按照下面所示配置相机设置：</p>
+<p><img alt="深度点云可视化" src="../../../../_images/multi_camera_synced2.png" /></p>
+<ol class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 是用于启动相机的启动文件。</p></li>
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">camera_name</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">G330_0</span></code>。例如，发布的彩色图像话题将是 <code class="docutils literal notranslate"><span class="pre">/G330_0/color/image_raw</span></code>。</p></li>
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">usb_port</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2-2</span></code>，表示正在使用端口 <code class="docutils literal notranslate"><span class="pre">2-2</span></code> 上的相机设备。此值可以在 <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code> 命令的输出中找到。</p></li>
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">device_num</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">2</span></code>，表示将使用两个相机。</p></li>
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">sync_mode</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">primary</span></code>，表示 <code class="docutils literal notranslate"><span class="pre">2-7</span></code> 相机设备处于主模式。多相机同步模式选项可以在下图中找到。</p></li>
+<li><p>来自 <code class="docutils literal notranslate"><span class="pre">config_file_path</span></code> 的参数可以覆盖在 <code class="docutils literal notranslate"><span class="pre">gemini_330_series.launch.py</span></code> 中设置的参数（可选）。</p></li>
+<li><p>对于从属相机，将 <code class="docutils literal notranslate"><span class="pre">trigger_out_enabled</span></code> 设置为 false。</p></li>
+</ol>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>模式名称</strong></th>
+<th><strong>设置效果说明</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>free_run</td>
+<td>- 支持不同的帧率设置<br />- 8 针同步接口不支持外部输出同步相关信号</td>
+</tr>
+<tr>
+<td>standalone（默认）</td>
+<td>● 默认与 Primary 相同<br />● 内置 RGBD 帧同步<br />● 8 针同步接口默认不向外部输出信号</td>
+</tr>
+<tr>
+<td>primary</td>
+<td>● 设置为主相机<br />● 8 针同步接口向外部设备输出信号</td>
+</tr>
+<tr>
+<td>secondary</td>
+<td>● 设置为从属（被动同步；当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时，根据外部触发信号采集图像；当没有外部触发信号时，停止流）<br />● 8 针同步接口向外部设备输出信号</td>
+</tr>
+<tr>
+<td>secondary_synced</td>
+<td>● 设置为从属同步（被动同步；当外部有硬件连续触发信号输入且连续触发信号与当前设置的帧率匹配时，根据外部触发信号采集图像；当没有外部触发信号时，根据设置的帧率的内部触发信号采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
+</tr>
+<tr>
+<td>hardware_triggering</td>
+<td>● 设置为硬件触发（被动触发；当外部有硬件触发信号输入且触发信号时间间隔不小于当前上限时，根据外部触发信号采集图像；当没有外部触发信号时，不采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
+</tr>
+<tr>
+<td>software_triggering</td>
+<td>● 设置为软件触发（被动触发；当主机有触发命令输入且触发命令时间间隔不小于当前上限时，根据触发命令采集图像；当没有触发命令时，不采集图像）<br />● 8 针同步接口向外部设备输出信号</td>
+</tr>
+</tbody>
+</table><ul class="simple">
+<li><p>主相机应该最后启动。</p></li>
+<li><p>理想情况下，启动每个相机之间应该有 2 秒的延迟。</p></li>
+</ul>
+</section>
+<section id="id4">
+<h2>运行以下命令启动多相机同步<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_camera_synced.launch.py
+</pre></div>
+</div>
+</section>
+</section>
+
+
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+            OrbbecSDK V2 ROS2 封装
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+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">多相机同步验证节点</a><ul>
+<li><a class="reference internal" href="#id2">使用教程</a><ul>
+<li><a class="reference internal" href="#multi-camera-synced-launch-py"><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
+<li><a class="reference internal" href="#id3"><strong>参数文件修改</strong></a></li>
+<li><a class="reference internal" href="#id4"><strong>启动与验证</strong></a></li>
+<li><a class="reference internal" href="#launch"><strong>参考 launch 文件</strong></a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id5">必要系统配置</a><ul>
+<li><a class="reference internal" href="#usb"><strong>提升 USB 缓冲区容量</strong></a></li>
+<li><a class="reference internal" href="#fast-dds"><strong>配置 Fast DDS</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>多相机同步验证节点<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>文件路径：<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp">image_sync_example_node.cpp</a></p>
+<p>此示例节点用于 <strong>4 台 Orbbec 相机</strong> 的同步采集与时间戳验证。
+它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。</p>
+<hr class="docutils" />
+<section id="id2">
+<h2>使用教程<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<section id="multi-camera-synced-launch-py">
+<h3><strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong><a class="headerlink" href="#multi-camera-synced-launch-py" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p>增加 <code class="docutils literal notranslate"><span class="pre">launch_include</span></code> 以适配 4 台相机</p></li>
+<li><p>根据设备型号选择对应的 launch 文件，如 330 系列选择 gemini_330_series.launch.py</p></li>
+<li><p>命名规范：camera_name 命名方式 camera_01、camera_02、camera_03 ...</p></li>
+<li><p>设置 device_num 数量为 4</p></li>
+<li><p>USB 端口配置 usb_port，使用以下命令查看并绑定正确的端口
+<code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_devices_node</span></code></p></li>
+<li><p>同步模式设置为主从模式，一个 primary 相机，其他设置为 secondary_synced</p></li>
+<li><p>启动顺序：主相机（Primary）应最后启动，以确保同步信号建立正确。</p></li>
+</ul>
+</section>
+<hr class="docutils" />
+<section id="id3">
+<h3><strong>参数文件修改</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<p>修改 <code class="docutils literal notranslate"><span class="pre">config</span></code> 目录下的以下两个配置文件：</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">camera_params.yaml</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">camera_secondary_params.yaml</span></code></p></li>
+</ul>
+<p>确保以下内容统一：</p>
+<ul class="simple">
+<li><p>启用 <strong>depth</strong> 与 <strong>color</strong> 流；</p></li>
+<li><p>统一各相机的 <strong>帧率（fps）</strong>。</p></li>
+</ul>
+</section>
+<hr class="docutils" />
+<section id="id4">
+<h3><strong>启动与验证</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p>启动多机同步 launch： <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code></p></li>
+<li><p>打开新终端运行同步验证节点： <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">image_sync_example_node</span></code>
+该节点会输出多相机图像的时间戳差异信息，用于验证同步效果。</p></li>
+</ul>
+</section>
+<hr class="docutils" />
+<section id="launch">
+<h3><strong>参考 launch 文件</strong><a class="headerlink" href="#launch" title="Link to this heading"></a></h3>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="kn">import</span><span class="w"> </span><span class="nn">os</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">ament_index_python.packages</span><span class="w"> </span><span class="kn">import</span> <span class="n">get_package_share_directory</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch</span><span class="w"> </span><span class="kn">import</span> <span class="n">LaunchDescription</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">IncludeLaunchDescription</span><span class="p">,</span> <span class="n">GroupAction</span><span class="p">,</span> <span class="n">TimerAction</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch.launch_description_sources</span><span class="w"> </span><span class="kn">import</span> <span class="n">PythonLaunchDescriptionSource</span>
+<span class="kn">from</span><span class="w"> </span><span class="nn">launch_ros.actions</span><span class="w"> </span><span class="kn">import</span> <span class="n">Node</span><span class="p">,</span> <span class="n">LoadComposableNodes</span>
+
+
+
+<span class="k">def</span><span class="w"> </span><span class="nf">generate_launch_description</span><span class="p">():</span>
+    <span class="c1"># Include launch files</span>
+    <span class="n">package_dir</span> <span class="o">=</span> <span class="n">get_package_share_directory</span><span class="p">(</span><span class="s2">&quot;orbbec_camera&quot;</span><span class="p">)</span>
+    <span class="n">launch_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">&quot;launch&quot;</span><span class="p">)</span>
+    <span class="n">config_file_dir</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">package_dir</span><span class="p">,</span> <span class="s2">&quot;config&quot;</span><span class="p">)</span>
+    <span class="n">config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">&quot;camera_params.yaml&quot;</span><span class="p">)</span>
+    <span class="n">secondary_config_file_path</span> <span class="o">=</span> <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">config_file_dir</span><span class="p">,</span> <span class="s2">&quot;camera_secondary_params.yaml&quot;</span><span class="p">)</span>
+
+    <span class="n">launch1_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_01&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-2.3&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;primary&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">config_file_path</span><span class="p">,</span>
+            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;true&quot;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
+    <span class="p">)</span>
+
+    <span class="n">launch2_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_02&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-1&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
+            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
+    <span class="p">)</span>
+
+    <span class="n">launch3_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_03&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-3&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
+            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
+    <span class="p">)</span>
+
+    <span class="n">launch4_include</span> <span class="o">=</span> <span class="n">IncludeLaunchDescription</span><span class="p">(</span>
+        <span class="n">PythonLaunchDescriptionSource</span><span class="p">(</span>
+            <span class="n">os</span><span class="o">.</span><span class="n">path</span><span class="o">.</span><span class="n">join</span><span class="p">(</span><span class="n">launch_file_dir</span><span class="p">,</span> <span class="s2">&quot;gemini_330_series.launch.py&quot;</span><span class="p">)</span>
+        <span class="p">),</span>
+        <span class="n">launch_arguments</span><span class="o">=</span><span class="p">{</span>
+            <span class="s2">&quot;camera_name&quot;</span><span class="p">:</span> <span class="s2">&quot;camera_04&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;usb_port&quot;</span><span class="p">:</span> <span class="s2">&quot;2-4&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;device_num&quot;</span><span class="p">:</span> <span class="s2">&quot;4&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;sync_mode&quot;</span><span class="p">:</span> <span class="s2">&quot;secondary_synced&quot;</span><span class="p">,</span>
+            <span class="s2">&quot;config_file_path&quot;</span><span class="p">:</span> <span class="n">secondary_config_file_path</span><span class="p">,</span>
+            <span class="s2">&quot;trigger_out_enabled&quot;</span><span class="p">:</span> <span class="s2">&quot;false&quot;</span>
+        <span class="p">}</span><span class="o">.</span><span class="n">items</span><span class="p">(),</span>
+    <span class="p">)</span>
+
+
+
+    <span class="c1"># Launch description</span>
+    <span class="n">ld</span> <span class="o">=</span> <span class="n">LaunchDescription</span><span class="p">(</span>
+        <span class="p">[</span>
+
+            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">0.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch2_include</span><span class="p">])]),</span>
+            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">2.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch3_include</span><span class="p">])]),</span>
+            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">4.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch4_include</span><span class="p">])]),</span>
+            <span class="n">TimerAction</span><span class="p">(</span><span class="n">period</span><span class="o">=</span><span class="mf">6.0</span><span class="p">,</span> <span class="n">actions</span><span class="o">=</span><span class="p">[</span><span class="n">GroupAction</span><span class="p">([</span><span class="n">launch1_include</span><span class="p">])]),</span>
+            <span class="c1"># The primary camera should be launched at last</span>
+        <span class="p">]</span>
+    <span class="p">)</span>
+
+    <span class="k">return</span> <span class="n">ld</span>
+</pre></div>
+</div>
+</section>
+</section>
+<hr class="docutils" />
+<section id="id5">
+<h2>必要系统配置<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<section id="usb">
+<h3><strong>提升 USB 缓冲区容量</strong><a class="headerlink" href="#usb" title="Link to this heading"></a></h3>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">echo</span> <span class="mi">512</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
+</pre></div>
+</div>
+</section>
+<section id="fast-dds">
+<h3><strong>配置 Fast DDS</strong><a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h3>
+<p>优化 ROS2 节点间通信延迟，可以有效减少图像传输延迟，<a class="reference internal" href="../performance/fastdds_tuning.html"><span class="doc">配置过程见此章节</span></a>。</p>
+</section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
+
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diff --git a/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
new file mode 100644
index 00000000..b5411064
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html
@@ -0,0 +1,142 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>高效的进程内通信： &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />
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+    <script src="../../../../_static/js/theme.js"></script>
+    <link rel="index" title="索引" href="../../../../genindex.html" />
+    <link rel="search" title="搜索" href="../../../../search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
+      <div class="wy-side-scroll">
+        <div class="wy-side-nav-search" >
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+          
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+            OrbbecSDK V2 ROS2 封装
+          </a>
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+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">高效的进程内通信：</a><ul>
+<li><a class="reference internal" href="#id2">简介</a></li>
+<li><a class="reference internal" href="#id3">示例</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
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+      <li class="breadcrumb-item active">高效的进程内通信：</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../../../_sources/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>高效的进程内通信：<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<section id="id2">
+<h2>简介<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>如果我们的ROS2封装器节点与订阅者节点加载在同一进程中，它支持零拷贝通信。这可以减少图像/点云话题的拷贝时间，特别是在大帧分辨率和高FPS的情况下。</p>
+<p>您需要启动一个组件容器，并将我们的节点作为组件与其他组件节点一起启动。有关&quot;在单个进程中组合多个节点&quot;的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/rolling/Tutorials/Composition.html">此处</a>。</p>
+<p>有关高效进程内通信的更多详细信息，请参见 <a class="reference external" href="https://docs.ros.org/en/humble/Tutorials/Intra-Process-Communication.html#efficient-intra-process-communication">此处</a>。</p>
+</section>
+<section id="id3">
+<h2>示例<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p><strong>手动将多个组件加载到同一进程中</strong></p>
+<ul>
+<li><p>启动组件：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>rclcpp_components<span class="w"> </span>component_container
+</pre></div>
+</div>
+</li>
+<li><p>添加封装器：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>component<span class="w"> </span>load<span class="w"> </span>/ComponentManager<span class="w"> </span>orbbec_camera<span class="w"> </span>orbbec_camera::OBCameraNodeDriver<span class="w"> </span>-e<span class="w"> </span>use_intra_process_comms:<span class="o">=</span><span class="nb">true</span>
+</pre></div>
+</div>
+<p>以相同方式加载其他组件节点（封装器话题的消费者）。</p>
+</li>
+</ul>
+<p><strong>使用启动文件</strong></p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_intra_process_demo_launch.py
+</pre></div>
+</div>
+<p><strong>限制</strong></p>
+<ul class="simple">
+<li><p>RCLPY目前不支持节点组件</p></li>
+<li><p>使用 <code class="docutils literal notranslate"><span class="pre">image_transport</span></code> 的压缩图像将被禁用，因为进程内通信不支持此功能</p></li>
+</ul>
+</section>
+</section>
+
+
+           </div>
+          </div>
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+
+  <hr/>
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+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
new file mode 100644
index 00000000..5ba0786a
--- /dev/null
+++ b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html
@@ -0,0 +1,239 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../../">
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+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>针对Orbbec相机与ROS2的Fast DDS优化 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
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+            OrbbecSDK V2 ROS2 封装
+          </a>
+<div role="search">
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+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
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+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
+<li><a class="reference internal" href="#id1">调整系统参数</a></li>
+<li><a class="reference internal" href="#fast-dds">Fast DDS配置</a></li>
+</ul>
+</li>
+</ul>
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+      <li class="breadcrumb-item active">针对Orbbec相机与ROS2的Fast DDS优化</li>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbecros2fast-dds">
+<h1>针对Orbbec相机与ROS2的Fast DDS优化<a class="headerlink" href="#orbbecros2fast-dds" title="Link to this heading"></a></h1>
+<p>使用默认配置时，Fast DDS表现出次优的传输效率，导致在ROS2中使用Orbbec相机时图像传输延迟显著。本文档提供了优化Fast DDS以提高图像传输效率的指导。</p>
+<section id="id1">
+<h2>调整系统参数<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p><strong>IP分片时间</strong></p>
+<ul>
+<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_time</span></code>（默认值：30秒）</p></li>
+<li><p><strong>目的</strong>: 定义IP分片保留在内存中的持续时间。</p></li>
+<li><p><strong>调整</strong>: 减少此值以缩短未接收到分片的时间窗口，这有助于减少延迟。考虑到您环境的具体需求，因为此设置会影响所有传入的分片。</p>
+<p><strong>示例</strong>: 设置为3秒。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_time<span class="o">=</span><span class="m">3</span>
+</pre></div>
+</div>
+</li>
+</ul>
+<p><strong>IP分片内存阈值</strong></p>
+<ul>
+<li><p><strong>路径</strong>: <code class="docutils literal notranslate"><span class="pre">/proc/sys/net/ipv4/ipfrag_high_thresh</span></code>（默认值：262144字节）</p></li>
+<li><p><strong>目的</strong>: 设置用于重组IP分片的最大内存。</p></li>
+<li><p><strong>调整</strong>: 增加此值以允许更多内存用于分片重组，这可以改善较大数据包的处理。</p>
+<p><strong>示例</strong>: 增加到128 MB。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>net.ipv4.ipfrag_high_thresh<span class="o">=</span><span class="m">134217728</span>
+</pre></div>
+</div>
+</li>
+</ul>
+<p><strong>最大缓冲区大小</strong></p>
+<ul>
+<li><p><strong>目的</strong>: 配置接收和发送数据的最大缓冲区大小，这对高吞吐量数据传输至关重要。</p></li>
+<li><p><strong>调整</strong>: 设置接收和发送操作的最大缓冲区大小。</p>
+<p><strong>命令</strong>:</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
+sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
+sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
+sudo<span class="w"> </span>sysctl<span class="w"> </span>-w<span class="w"> </span>net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
+</pre></div>
+</div>
+</li>
+</ul>
+<p>或者，通过将这些设置添加到 <code class="docutils literal notranslate"><span class="pre">/etc/sysctl.d/10-fastrtps-max.conf</span></code> 文件中使其永久生效。</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>gedit<span class="w"> </span>/etc/sysctl.d/10-fastrtps-max.conf
+</pre></div>
+</div>
+<p>将以下行添加到文件中：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>net.core.rmem_max<span class="o">=</span><span class="m">2147483647</span>
+net.core.rmem_default<span class="o">=</span><span class="m">2147483647</span>
+net.core.wmem_max<span class="o">=</span><span class="m">2147483647</span>
+net.core.wmem_default<span class="o">=</span><span class="m">2147483647</span>
+</pre></div>
+</div>
+<p>然后保存并退出文件。运行 <code class="docutils literal notranslate"><span class="pre">sudo</span> <span class="pre">sysctl</span> <span class="pre">-p</span></code> 以应用更改。</p>
+<p>有关详细指导，请参考 <a class="reference external" href="https://docs.ros.org/en/foxy/How-To-Guides/DDS-tuning.html">ROS 2 DDS调优文档</a>。</p>
+</section>
+<section id="fast-dds">
+<h2>Fast DDS配置<a class="headerlink" href="#fast-dds" title="Link to this heading"></a></h2>
+<p>以下是针对Orbbec相机与ROS2使用而优化的Fast DDS配置文件示例。此配置通过调整缓冲区大小和传输设置来增强整体数据传输。</p>
+<p><strong>配置文件:</strong> <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></p>
+<p>将此文件放在 <code class="docutils literal notranslate"><span class="pre">$HOME</span></code> 目录中。</p>
+<div class="highlight-xml notranslate"><div class="highlight"><pre><span></span><span class="cp">&lt;?xml version=&quot;1.0&quot; encoding=&quot;UTF-8&quot;?&gt;</span>
+<span class="nt">&lt;profiles</span><span class="w"> </span><span class="na">xmlns=</span><span class="s">&quot;http://www.eprosima.com/XMLSchemas/fastRTPS_Profiles&quot;</span><span class="nt">&gt;</span>
+<span class="w">    </span><span class="nt">&lt;transport_descriptors&gt;</span>
+<span class="w">        </span><span class="nt">&lt;transport_descriptor&gt;</span>
+<span class="w">            </span><span class="nt">&lt;transport_id&gt;</span>UDP_transport<span class="nt">&lt;/transport_id&gt;</span>
+<span class="w">            </span><span class="nt">&lt;type&gt;</span>UDPv4<span class="nt">&lt;/type&gt;</span>
+<span class="w">            </span><span class="nt">&lt;maxInitialPeersRange&gt;</span>10<span class="nt">&lt;/maxInitialPeersRange&gt;</span>
+<span class="w">            </span><span class="nt">&lt;maxMessageSize&gt;</span>65000<span class="nt">&lt;/maxMessageSize&gt;</span>
+<span class="w">            </span><span class="nt">&lt;sendBufferSize&gt;</span>1048576<span class="nt">&lt;/sendBufferSize&gt;</span>
+<span class="w">            </span><span class="nt">&lt;receiveBufferSize&gt;</span>1048576<span class="nt">&lt;/receiveBufferSize&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/transport_descriptor&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/transport_descriptors&gt;</span>
+<span class="w">    </span><span class="nt">&lt;participant</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;participant_profile_ros2&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;rtps&gt;</span>
+<span class="w">            </span><span class="nt">&lt;name&gt;</span>profile_for_ros2_context<span class="nt">&lt;/name&gt;</span>
+<span class="w">            </span><span class="nt">&lt;userTransports&gt;</span>
+<span class="w">                </span><span class="nt">&lt;transport_id&gt;</span>UDP_transport<span class="nt">&lt;/transport_id&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/userTransports&gt;</span>
+<span class="w">            </span><span class="nt">&lt;useBuiltinTransports&gt;</span>false<span class="nt">&lt;/useBuiltinTransports&gt;</span>
+<span class="w">            </span><span class="nt">&lt;sendSocketBufferSize&gt;</span>1048576<span class="nt">&lt;/sendSocketBufferSize&gt;</span>
+<span class="w">            </span><span class="nt">&lt;listenSocketBufferSize&gt;</span>1048576<span class="nt">&lt;/listenSocketBufferSize&gt;</span>
+<span class="w">            </span><span class="nt">&lt;builtin&gt;</span>
+<span class="w">                </span><span class="nt">&lt;initialPeersList&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;locator&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;udpv4&gt;</span>
+<span class="w">                            </span><span class="nt">&lt;address&gt;</span>127.0.0.1<span class="nt">&lt;/address&gt;</span>
+<span class="w">                        </span><span class="nt">&lt;/udpv4&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;/locator&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/initialPeersList&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/builtin&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/rtps&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/participant&gt;</span>
+<span class="w">    </span><span class="nt">&lt;data_writer</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;default publisher profile&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;qos&gt;</span>
+<span class="w">            </span><span class="nt">&lt;publishMode&gt;</span>
+<span class="w">                </span><span class="nt">&lt;kind&gt;</span>ASYNCHRONOUS<span class="nt">&lt;/kind&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/publishMode&gt;</span>
+<span class="w">            </span><span class="nt">&lt;latencyBudget&gt;</span>
+<span class="w">                </span><span class="nt">&lt;duration&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;sec&gt;</span>0<span class="nt">&lt;/sec&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;nanosec&gt;</span>1000000<span class="nt">&lt;/nanosec&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/duration&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/latencyBudget&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/qos&gt;</span>
+<span class="w">        </span><span class="nt">&lt;historyMemoryPolicy&gt;</span>PREALLOCATED_WITH_REALLOC<span class="nt">&lt;/historyMemoryPolicy&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/data_writer&gt;</span>
+<span class="w">    </span><span class="nt">&lt;data_reader</span><span class="w"> </span><span class="na">profile_name=</span><span class="s">&quot;default subscription profile&quot;</span><span class="w"> </span><span class="na">is_default_profile=</span><span class="s">&quot;true&quot;</span><span class="nt">&gt;</span>
+<span class="w">        </span><span class="nt">&lt;qos&gt;</span>
+<span class="w">            </span><span class="nt">&lt;data_sharing&gt;</span>
+<span class="w">                </span><span class="nt">&lt;kind&gt;</span>AUTOMATIC<span class="nt">&lt;/kind&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/data_sharing&gt;</span>
+<span class="w">            </span><span class="nt">&lt;latencyBudget&gt;</span>
+<span class="w">                </span><span class="nt">&lt;duration&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;sec&gt;</span>0<span class="nt">&lt;/sec&gt;</span>
+<span class="w">                    </span><span class="nt">&lt;nanosec&gt;</span>1000000<span class="nt">&lt;/nanosec&gt;</span>
+<span class="w">                </span><span class="nt">&lt;/duration&gt;</span>
+<span class="w">            </span><span class="nt">&lt;/latencyBudget&gt;</span>
+<span class="w">        </span><span class="nt">&lt;/qos&gt;</span>
+<span class="w">        </span><span class="nt">&lt;historyMemoryPolicy&gt;</span>PREALLOCATED_WITH_REALLOC<span class="nt">&lt;/historyMemoryPolicy&gt;</span>
+<span class="w">    </span><span class="nt">&lt;/data_reader&gt;</span>
+<span class="nt">&lt;/profiles&gt;</span>
+</pre></div>
+</div>
+<p><strong>环境变量</strong></p>
+<p>设置以下环境变量以使用自定义Fast DDS配置文件：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">export</span><span class="w"> </span><span class="nv">RMW_IMPLEMENTATION</span><span class="o">=</span>rmw_fastrtps_cpp
+<span class="nb">export</span><span class="w"> </span><span class="nv">FASTRTPS_DEFAULT_PROFILES_FILE</span><span class="o">=</span><span class="nv">$HOME</span>/shm_fastdds.xml
+<span class="nb">export</span><span class="w"> </span><span class="nv">RMW_FASTRTPS_USE_QOS_FROM_XML</span><span class="o">=</span><span class="m">1</span>
+</pre></div>
+</div>
+<p>此配置旨在优化数据流并减少传输延迟，提高Orbbec相机系统在ROS2环境中的响应性和可靠性。</p>
+</section>
+</section>
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+<li><a class="reference internal" href="#">使用Orbbec ROS包降低CPU使用率</a><ul>
+<li><a class="reference internal" href="#cpu">降低CPU使用率的推荐设置</a></li>
+<li><a class="reference internal" href="#id1">用于测试的启动文件</a></li>
+<li><a class="reference internal" href="#id2">测试环境</a></li>
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+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbec-roscpu">
+<h1>使用Orbbec ROS包降低CPU使用率<a class="headerlink" href="#orbbec-roscpu" title="Link to this heading"></a></h1>
+<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">示例</a> 中找到使用示例代码。</p>
+<p>本文档概述了在使用 <strong>Gemini 330系列相机</strong> 的 <strong>OrbbecSDK_ROS2 v2</strong> 环境中最小化CPU使用率的策略。固件版本必须 <strong>不低于1.4.10</strong>，且 <code class="docutils literal notranslate"><span class="pre">device</span></code> 应设置为 <strong>Default</strong>。</p>
+<section id="cpu">
+<h2>降低CPU使用率的推荐设置<a class="headerlink" href="#cpu" title="Link to this heading"></a></h2>
+<p>要在OrbbecSDK_ROS2中实现最低的CPU使用率，建议配置以下参数。</p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">参数</th>
+<th style="text-align: center;">推荐值</th>
+<th style="text-align: center;">说明</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;"><code>uvc_backend</code></td>
+<td style="text-align: center;"><code>v4l2</code></td>
+<td style="text-align: center;">与 <code>libuvc</code> 相比CPU使用率更低</td>
+</tr>
+<tr>
+<td style="text-align: center;"><code>color_format</code></td>
+<td style="text-align: center;"><code>RGB</code></td>
+<td style="text-align: center;">CPU使用率低于 <code>MJPG</code></td>
+</tr>
+<tr>
+<td style="text-align: center;"><code>filter</code></td>
+<td style="text-align: center;">仅使用 <code>hardware_noise_removal_filter</code></td>
+<td style="text-align: center;">其他滤波器会显著增加CPU使用率</td>
+</tr>
+</tbody>
+</table></section>
+<section id="id1">
+<h2>用于测试的启动文件<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_lower_cpu_usage.launch.py</span></code></p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">multi_camera_lower_cpu_usage.launch.py</span></code></p></li>
+</ul>
+</section>
+<section id="id2">
+<h2>测试环境<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p><strong>硬件配置</strong></p>
+<ul class="simple">
+<li><p><strong>CPU</strong>: Intel i7-8700 &#64; 3.20GHz</p></li>
+<li><p><strong>内存</strong>: 24 GB</p></li>
+<li><p><strong>存储</strong>: Micron 2200S NVMe 256GB</p></li>
+<li><p><strong>GPU</strong>: NVIDIA GeForce GTX 1660Ti</p></li>
+<li><p><strong>操作系统</strong>: Ubuntu22.04</p></li>
+</ul>
+<p><strong>ROS配置</strong></p>
+<ul class="simple">
+<li><p><strong>ROS版本</strong>: ROS2 Humble</p></li>
+<li><p><strong>SDK版本</strong>: OrbbecSDK_ROS2 v2.2.1</p></li>
+</ul>
+<p><strong>相机设置</strong></p>
+<ul class="simple">
+<li><p>设备: 2x Gemini 335, 1x Gemini 336, 1x Gemini 336L</p></li>
+<li><p>固件版本: 1.4.10</p></li>
+</ul>
+</section>
+<section id="id3">
+<h2>测试设置<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p><strong>数据流设置：</strong></p>
+<ul class="simple">
+<li><p>深度/左IR/右IR: 848×480 &#64; 30fps</p></li>
+<li><p>彩色: 848×480 &#64; 30fps</p></li>
+</ul>
+<p>注意：以下CPU使用率数据重点关注 <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code>、<code class="docutils literal notranslate"><span class="pre">color_format</span></code> 和各种滤波器组合。</p>
+</section>
+<section id="id4">
+<h2>测试结果<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<p><strong><code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> 对比（RGB格式）</strong></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">libuvc CPU使用率</th>
+<th style="text-align: center;">v4l2 CPU使用率</th>
+<th style="text-align: center;">绝对变化</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;">182.8%</td>
+<td style="text-align: center;">118.8%</td>
+<td style="text-align: center;">-64.0%</td>
+</tr>
+</tbody>
+</table><p>使用v4l2后端可以显著降低CPU使用率。在我们的实现中，v4l2无需对Linux内核进行任何补丁即可工作，允许用户轻松在v4l2和libuvc之间切换，并保持与标准Linux发行版的完全兼容性。</p>
+<p><strong><code class="docutils literal notranslate"><span class="pre">color_format</span></code> 对比（MJPG vs RGB）</strong></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">后端</th>
+<th style="text-align: center;">MJPG CPU使用率</th>
+<th style="text-align: center;">RGB CPU使用率</th>
+<th style="text-align: center;">绝对变化</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;">libuvc</td>
+<td style="text-align: center;">347.7%</td>
+<td style="text-align: center;">182.8%</td>
+<td style="text-align: center;">-164.9%</td>
+</tr>
+<tr>
+<td style="text-align: center;">v4l2</td>
+<td style="text-align: center;">170.0%</td>
+<td style="text-align: center;">118.8%</td>
+<td style="text-align: center;">-51.2%</td>
+</tr>
+</tbody>
+</table><p>如果选择RGB格式而不是MJPG，可以降低CPU使用率，因为MJPG图像的解码会消耗主机CPU资源。</p>
+<p><strong>滤波器配置影响</strong></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th>应用的滤波器</th>
+<th>libuvc CPU使用率</th>
+<th>CPU使用率增加</th>
+<th>v4l2 CPU使用率</th>
+<th>CPU使用率增加</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>无滤波器（基准）</td>
+<td>182.8%</td>
+<td>0.0%（基准）</td>
+<td>118.8%</td>
+<td>0.0%（基准）</td>
+</tr>
+<tr>
+<td><code>（软件）noise_removal_filter</code></td>
+<td>218.0%</td>
+<td>+35.2%</td>
+<td>128.5%</td>
+<td>+9.7%</td>
+</tr>
+<tr>
+<td><code>（软件）noise_removal_filter + spatial_filter</code></td>
+<td>469.6%</td>
+<td>+286.8%</td>
+<td>336.7%</td>
+<td>+217.9%</td>
+</tr>
+<tr>
+<td><code>hardware_noise_removal_filter</code></td>
+<td>186.3%</td>
+<td>+3.5%</td>
+<td>115.4%</td>
+<td>-3.4%</td>
+</tr>
+<tr>
+<td><code>hardware_noise_removal_filter + spatial_filter</code></td>
+<td>251.3%</td>
+<td>+68.5%</td>
+<td>152.5%</td>
+<td>+33.7%</td>
+</tr>
+</tbody>
+</table><p>根据测试结果，仅使用 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code> 相比无滤波器基准，对 <code class="docutils literal notranslate"><span class="pre">libuvc</span></code>（+3.5%）和 <code class="docutils literal notranslate"><span class="pre">v4l2</span></code>（-3.4%）的CPU使用率变化可以忽略不计，因为此滤波器在相机硬件内部运行。相比之下，其他滤波器在主机系统上执行。将 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 添加到硬件滤波器会导致CPU使用率适度增加，而应用基于软件的 <code class="docutils literal notranslate"><span class="pre">noise_removal_filter</span></code>——无论是单独使用还是与 <code class="docutils literal notranslate"><span class="pre">spatial_filter</span></code> 结合——都会显著增加CPU负载。为保持较低的CPU使用率，建议避免使用基于软件的滤波器，仅依赖 <code class="docutils literal notranslate"><span class="pre">hardware_noise_removal_filter</span></code>。</p>
+</section>
+<section id="id5">
+<h2>进一步优化<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th style="text-align: center;">参数</th>
+<th style="text-align: center;">推荐值</th>
+<th style="text-align: center;">说明</th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td style="text-align: center;"><code>depth_registration</code></td>
+<td style="text-align: center;"><code>false</code> 或 <code>true</code> 配合 <code>align_mode=HW</code></td>
+<td style="text-align: center;">软件对齐消耗更多CPU</td>
+</tr>
+<tr>
+<td style="text-align: center;"><code>enable_point_cloud</code></td>
+<td style="text-align: center;"><code>false</code></td>
+<td style="text-align: center;">禁用点云可降低CPU使用率</td>
+</tr>
+<tr>
+<td style="text-align: center;"><code>enable_colored_point_cloud</code></td>
+<td style="text-align: center;"><code>false</code></td>
+<td style="text-align: center;">禁用彩色点云可降低CPU使用率</td>
+</tr>
+</tbody>
+</table></section>
+</section>
+
+
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+          </div>
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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+<h1>性能基准测试<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章介绍如何使用性能基准测试工具，并提供不同相机的测试结果。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="introduction.html">介绍</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="introduction.html#id2">通用基准测试节点</a></li>
+<li class="toctree-l2"><a class="reference internal" href="introduction.html#id3">服务基准测试节点</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="benchmark_usage.html">性能基准测试使用</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#id2">使用通用基准测试节点</a></li>
+<li class="toctree-l2"><a class="reference internal" href="benchmark_usage.html#id3">使用服务基准测试节点</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="benchmark_data.html">性能基准测试数据</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="benchmark_data.html#id3">服务基准测试数据</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="othertools.html">其他工具</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="othertools.html#ob-benchmark">Ob_benchmark 工具</a></li>
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+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>性能基准测试数据<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本节记录了使用性能基准测试工具测试不同相机的数据。点击链接下载 xlsx 数据。</p>
+<section id="id2">
+<h2>通用基准测试数据<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>使用默认启动文件运行 <code class="docutils literal notranslate"><span class="pre">common_benchmark_node</span></code> 并测试 1 小时的数据。</p>
+<ul class="simple">
+<li><p><a class="reference external" href="../../_static/ros2_common_benchmark_data.xlsx">通用基准测试数据</a></p></li>
+</ul>
+</section>
+<section id="id3">
+<h2>服务基准测试数据<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p>使用默认启动文件分别运行 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 和 <code class="docutils literal notranslate"><span class="pre">service_benchmark_node.py</span></code>。每个服务调用 10 次，并记录数据。</p>
+<ul class="simple">
+<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_cpp.xlsx">服务基准测试数据 C++</a></p></li>
+<li><p><a class="reference external" href="../../_static/ros2_service_benchmark_python.xlsx">服务基准测试数据 Python</a></p></li>
+</ul>
+</section>
+</section>
+
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+<li><a class="reference internal" href="#">性能基准测试使用</a><ul>
+<li><a class="reference internal" href="#id2">使用通用基准测试节点</a></li>
+<li><a class="reference internal" href="#id3">使用服务基准测试节点</a><ul>
+<li><a class="reference internal" href="#ros2-c">ROS2 C++</a></li>
+<li><a class="reference internal" href="#ros2-python">ROS2 Python</a></li>
+<li><a class="reference internal" href="#yaml"><strong>示例 YAML 配置</strong></a></li>
+</ul>
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+</ul>
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+</ul>
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+            <a href="../../../_sources/source/camera_devices/6_benchmark/benchmark_usage.md.txt" rel="nofollow"> 查看页面源码</a>
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+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>性能基准测试使用<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本节介绍如何在 C++ 和 Python 中使用性能基准测试工具，并提供示例 YAML 配置文件。</p>
+<section id="id2">
+<h2>使用通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">common_benchmark_node</span><span class="o">.</span><span class="n">py</span> \
+    <span class="o">--</span><span class="n">run_time</span> <span class="mi">2</span><span class="n">h</span>  \
+    <span class="o">--</span><span class="n">csv_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">log</span><span class="o">.</span><span class="n">csv</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><strong>参数</strong></p>
+<ul>
+<li><p><strong>--run_time</strong>：监控持续时间，指定为时间字符串，如 <code class="docutils literal notranslate"><span class="pre">&quot;10s&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;5m&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;1h&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;2d&quot;</span></code>。默认为 10 秒。</p></li>
+<li><p><strong>--csv_file</strong>：输出 CSV 文件的路径。默认情况下，它保存在工作空间目录中，名称为 &quot;camera_monitor_log.csv&quot;。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="id3">
+<h2>使用服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<section id="ros2-c">
+<h3>ROS2 C++<a class="headerlink" href="#ros2-c" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p><strong>单个服务基准测试</strong></p></li>
+</ul>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
+    <span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
+    <span class="o">-</span><span class="n">p</span> <span class="n">service_name</span><span class="o">:=/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> \
+    <span class="o">-</span><span class="n">p</span> <span class="n">service_type</span><span class="o">:=</span><span class="n">orbbec_camera_msgs</span><span class="o">/</span><span class="n">srv</span><span class="o">/</span><span class="n">GetInt32</span> \
+    <span class="o">-</span><span class="n">p</span> <span class="n">count</span><span class="o">:=</span><span class="mi">10</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><strong>多个服务基准测试（YAML 配置）</strong></p></li>
+</ul>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span> \
+    <span class="o">--</span><span class="n">ros</span><span class="o">-</span><span class="n">args</span> \
+    <span class="o">-</span><span class="n">p</span> <span class="n">yaml_file</span><span class="o">:=/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service_cpp</span><span class="o">.</span><span class="n">yaml</span>
+</pre></div>
+</div>
+</section>
+<section id="ros2-python">
+<h3>ROS2 Python<a class="headerlink" href="#ros2-python" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p><strong>单个服务基准测试</strong></p></li>
+</ul>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">service</span> <span class="o">/</span><span class="n">camera</span><span class="o">/</span><span class="n">get_depth_gain</span> <span class="o">--</span><span class="n">count</span> <span class="mi">10</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><strong>多个服务基准测试（YAML 配置）</strong></p></li>
+</ul>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">ros2</span> <span class="n">run</span> <span class="n">orbbec_camera</span> <span class="n">service_benchmark_node</span><span class="o">.</span><span class="n">py</span> <span class="o">--</span><span class="n">yaml_file</span> <span class="o">/</span><span class="n">path</span><span class="o">/</span><span class="n">to</span><span class="o">/</span><span class="n">default_service</span><span class="o">.</span><span class="n">yaml</span>
+</pre></div>
+</div>
+</section>
+<section id="yaml">
+<h3><strong>示例 YAML 配置</strong><a class="headerlink" href="#yaml" title="Link to this heading"></a></h3>
+<p>我们提供了一个示例 YAML 配置，位于 <code class="docutils literal notranslate"><span class="pre">scripts</span></code> 目录中，名为 <code class="docutils literal notranslate"><span class="pre">service_default.yaml</span></code>。</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">default_count</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">50</span>
+
+<span class="nt">services</span><span class="p">:</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_auto_white_balance</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_color_gain</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_depth_gain</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetInt32</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/get_device_info</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/GetDeviceInfo</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/send_software_trigger</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_auto_white_balance</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_ae_roi</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_auto_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">30</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_flip</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_gain</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">20</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_mirror</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_color_rotation</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">90</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_ae_roi</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetArrays</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data_param</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">1279</span><span class="p p-Indicator">,</span><span class="nv">0</span><span class="p p-Indicator">,</span><span class="nv">719</span><span class="p p-Indicator">]}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_auto_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_exposure</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">3000</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_flip</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">std_srvs/srv/SetBool</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">false</span><span class="p p-Indicator">}</span>
+<span class="p p-Indicator">-</span><span class="w"> </span><span class="nt">name</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">/camera/set_depth_gain</span>
+<span class="w">  </span><span class="nt">type</span><span class="p">:</span><span class="w"> </span><span class="l l-Scalar l-Scalar-Plain">orbbec_camera_msgs/srv/SetInt32</span>
+<span class="w">  </span><span class="nt">request</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">{</span><span class="nt">data</span><span class="p">:</span><span class="w"> </span><span class="nv">200</span><span class="p p-Indicator">}</span>
+</pre></div>
+</div>
+</section>
+</section>
+</section>
+
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diff --git a/zh/source/camera_devices/6_benchmark/introduction.html b/zh/source/camera_devices/6_benchmark/introduction.html
new file mode 100644
index 00000000..28c91e3f
--- /dev/null
+++ b/zh/source/camera_devices/6_benchmark/introduction.html
@@ -0,0 +1,140 @@
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+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
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+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>介绍 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
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+              <!-- Local TOC -->
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+<li><a class="reference internal" href="#">介绍</a><ul>
+<li><a class="reference internal" href="#id2">通用基准测试节点</a></li>
+<li><a class="reference internal" href="#id3">服务基准测试节点</a></li>
+</ul>
+</li>
+</ul>
+</div>
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+      <li class="breadcrumb-item active">介绍</li>
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+            <a href="../../../_sources/source/camera_devices/6_benchmark/introduction.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>介绍<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本节介绍性能基准测试工具，解释其目的、功能以及它可以帮助您测量的内容。</p>
+<section id="id2">
+<h2>通用基准测试节点<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">common_benchmark_node.py</span></code> 是一个用于监控在 ROS 环境中运行的 Orbbec 相机性能的工具。它实时收集和记录关键相机指标，如帧率、延迟、系统资源使用和丢包率，帮助用户评估相机节点的稳定性和性能（每秒更新一次）。</p>
+<p><strong>功能</strong></p>
+<ul class="simple">
+<li><p>测量发布的图像帧率和延迟（当前、最小、最大、平均）</p></li>
+<li><p>监控相机节点的 CPU/ARM 使用率（当前、最小、最大、平均）</p></li>
+<li><p>跟踪丢帧率（发布者）和丢包率（订阅者）</p></li>
+<li><p>将实时统计信息（1 Hz）打印到终端并将结果保存到 CSV 文件</p></li>
+<li><p>支持可配置的运行时长和 CSV 输出路径</p></li>
+</ul>
+<p><strong>示例</strong></p>
+<p>在 ROS1 中，可以测量丢帧率和丢包率，而在 ROS2 中，header 缺少 <code class="docutils literal notranslate"><span class="pre">seq</span></code> 字段，因此仅计算发布者端的丢帧率。</p>
+<p><img alt="common_benchmark_ros1" src="../../../_images/common_benchmark_ros1.png" /></p>
+<p><img alt="common_benchmark_ros2" src="../../../_images/common_benchmark_ros2.png" /></p>
+</section>
+<section id="id3">
+<h2>服务基准测试节点<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">service_benchmark_node</span></code> 工具用于监控服务调用的性能。它可以测量服务调用的成功率和执行服务所需的时间。</p>
+<p><strong>功能</strong></p>
+<ul class="simple">
+<li><p>对单个服务调用进行基准测试，测量延迟和成功率</p></li>
+<li><p>对 YAML 配置文件中定义的多个服务进行基准测试</p></li>
+<li><p>可选择将基准测试结果保存到 CSV 文件</p></li>
+</ul>
+<p><strong>示例</strong></p>
+<p><img alt="service benchmark" src="../../../_images/service_benchmark.png" /></p>
+<p>当您需要收集多个服务的数据时，建议使用 CSV 文件进行分析。</p>
+</section>
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+
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/6_benchmark/othertools.html b/zh/source/camera_devices/6_benchmark/othertools.html
new file mode 100644
index 00000000..cad14900
--- /dev/null
+++ b/zh/source/camera_devices/6_benchmark/othertools.html
@@ -0,0 +1,168 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+            OrbbecSDK V2 ROS2 封装
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+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">其他工具</a><ul>
+<li><a class="reference internal" href="#ob-benchmark">Ob_benchmark 工具</a><ul>
+<li><a class="reference internal" href="#start-benchmark-params-json">工具配置 (start_benchmark_params.json)</a></li>
+<li><a class="reference internal" href="#id2">相机配置（启动文件）</a></li>
+<li><a class="reference internal" href="#id3">运行 ob_benchmark 工具</a></li>
+<li><a class="reference internal" href="#id4">输出数据文件</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+            <a href="../../../_sources/source/camera_devices/6_benchmark/othertools.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>其他工具<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<section id="ob-benchmark">
+<h2>Ob_benchmark 工具<a class="headerlink" href="#ob-benchmark" title="Link to this heading"></a></h2>
+<blockquote>
+<div><p>此工具的目标是对各种 OrbbecSDK_ROS2 相机配置的性能进行基准测试。基准测试结果取决于使用的相机和设置。（目前仅适用于 ROS2 Humble）</p>
+</div></blockquote>
+<p>您可以在 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples">example</a> 中找到示例使用代码。</p>
+<section id="start-benchmark-params-json">
+<h3>工具配置 (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json">start_benchmark_params.json</a>)<a class="headerlink" href="#start-benchmark-params-json" title="Link to this heading"></a></h3>
+<div class="highlight-json notranslate"><div class="highlight"><pre><span></span><span class="p">{</span>
+<span class="w">    </span><span class="nt">&quot;start_benchmark_params&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">{</span>
+<span class="w">        </span><span class="nt">&quot;camera_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="p">[</span>
+<span class="w">            </span><span class="s2">&quot;camera_01&quot;</span><span class="p">,</span>
+<span class="w">            </span><span class="s2">&quot;camera_02&quot;</span><span class="p">,</span>
+<span class="w">            </span><span class="s2">&quot;camera_03&quot;</span><span class="p">,</span>
+<span class="w">            </span><span class="s2">&quot;camera_04&quot;</span>
+<span class="w">        </span><span class="p">],</span>
+<span class="w">        </span><span class="nt">&quot;process_name&quot;</span><span class="p">:</span><span class="w"> </span><span class="s2">&quot;component_conta&quot;</span><span class="p">,</span>
+<span class="w">        </span><span class="nt">&quot;switch_cycle&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">300</span><span class="p">,</span>
+<span class="w">        </span><span class="nt">&quot;test_cycle&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">1</span><span class="p">,</span>
+<span class="w">        </span><span class="nt">&quot;skip_number&quot;</span><span class="p">:</span><span class="w"> </span><span class="mi">30</span>
+<span class="w">    </span><span class="p">}</span>
+<span class="p">}</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">camera_name</span></code>：要配置的相机名称。例如：<code class="docutils literal notranslate"><span class="pre">&quot;camera_01&quot;</span></code>、<code class="docutils literal notranslate"><span class="pre">&quot;camera_02&quot;</span></code> 等。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">process_name</span></code>：要监控的进程名称。例如，<code class="docutils literal notranslate"><span class="pre">&quot;component_conta&quot;</span></code> 将监控容器进程的数据。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">switch_cycle</span></code>：切换配置的周期时间，以秒为单位。例如，设置为 <code class="docutils literal notranslate"><span class="pre">300</span></code> 意味着配置将每 300 秒切换一次。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">test_cycle</span></code>：测试周期，以秒为单位。例如，设置为 <code class="docutils literal notranslate"><span class="pre">1</span></code> 意味着工具将每 1 秒收集一次监控进程的数据。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">skip_number</span></code>：要跳过的数据点数量。例如，设置为 <code class="docutils literal notranslate"><span class="pre">30</span></code> 意味着将忽略前 30 个数据点。</p></li>
+</ul>
+</section>
+<section id="id2">
+<h3>相机配置（启动文件）<a class="headerlink" href="#id2" title="Link to this heading"></a></h3>
+<p>在 launch 文件夹中，有多个 .launch.py 文件（<code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code>、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code>、...、<code class="docutils literal notranslate"><span class="pre">ob_benchmark_19.launch.py</span></code>）。每个文件对应不同的相机配置。</p>
+</section>
+<section id="id3">
+<h3>运行 ob_benchmark 工具<a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<p>要运行该工具，请使用以下命令：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
+ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>ob_benchmark_node
+</pre></div>
+</div>
+</section>
+<section id="id4">
+<h3>输出数据文件<a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<p>输出数据文件将存储在 ob_benchmark 文件夹中，文件名如 <code class="docutils literal notranslate"><span class="pre">0.csv</span></code>、<code class="docutils literal notranslate"><span class="pre">1.csv</span></code>、...、19.csv。例如：</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">0.csv</span></code> 包含来自 <code class="docutils literal notranslate"><span class="pre">ob_benchmark_0.launch.py</span></code> 配置的数据。</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">1.csv</span></code> 包含来自 <code class="docutils literal notranslate"><span class="pre">ob_benchmark_1.launch.py</span></code> 配置的数据。</p></li>
+</ul>
+</section>
+</section>
+</section>
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/zh/source/camera_devices/7_developer_guide/building_a_Debian_Package.html
new file mode 100644
index 00000000..559cdfb8
--- /dev/null
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+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>构建 Debian 软件包 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
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+            OrbbecSDK V2 ROS2 封装
+          </a>
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+<li><a class="reference internal" href="#">构建 Debian 软件包</a><ul>
+<li><a class="reference internal" href="#id1">准备环境</a></li>
+<li><a class="reference internal" href="#ros">配置 ROS 依赖项</a></li>
+<li><a class="reference internal" href="#id2">构建软件包</a></li>
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+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="debian">
+<h1>构建 Debian 软件包<a class="headerlink" href="#debian" title="Link to this heading"></a></h1>
+<section id="id1">
+<h2>准备环境<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p>在开始之前，安装所需的工具：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>debhelper<span class="w"> </span>fakeroot<span class="w"> </span>python3-bloom
+</pre></div>
+</div>
+</section>
+<section id="ros">
+<h2>配置 ROS 依赖项<a class="headerlink" href="#ros" title="Link to this heading"></a></h2>
+<p>在系统中的 <code class="docutils literal notranslate"><span class="pre">/etc/ros/rosdep/sources.list.d/00-orbbec.yaml</span></code> 添加以下 YAML 文件。确保将 <code class="docutils literal notranslate"><span class="pre">focal</span></code> 替换为您的 Ubuntu 版本的代号，将 <code class="docutils literal notranslate"><span class="pre">humble</span></code> 替换为您的 ROS2 发行版名称：</p>
+<div class="highlight-yaml notranslate"><div class="highlight"><pre><span></span><span class="nt">orbbec_camera_msgs</span><span class="p">:</span>
+<span class="w">  </span><span class="nt">ubuntu</span><span class="p">:</span>
+<span class="w">    </span><span class="nt">focal</span><span class="p">:</span><span class="w"> </span><span class="p p-Indicator">[</span><span class="w"> </span><span class="nv">ros-humble-orbbec-camera-msgs</span><span class="w"> </span><span class="p p-Indicator">]</span>
+</pre></div>
+</div>
+<p>接下来，创建一个新文件 <code class="docutils literal notranslate"><span class="pre">/etc/ros/rosdep/sources.list.d/50-orbbec.list</span></code> 并添加此行以指定 YAML 文件的路径：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>yaml<span class="w"> </span>file:///etc/ros/rosdep/sources.list.d/00-orbbec.yaml
+</pre></div>
+</div>
+<p>更新 rosdep 数据库以反映这些更改：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>rosdep<span class="w"> </span>update
+</pre></div>
+</div>
+</section>
+<section id="id2">
+<h2>构建软件包<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>导航到您的工作空间并构建项目：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
+colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w"> </span>console_direct+<span class="w"> </span>--cmake-args<span class="w"> </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
+.<span class="w"> </span>install/setup.bash
+<span class="nb">cd</span><span class="w"> </span>src/OrbbecSDK_ROS2/
+bash<span class="w"> </span>.make_deb.sh
+</pre></div>
+</div>
+</section>
+</section>
+
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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new file mode 100644
index 00000000..fd22139e
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+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>开发者指南<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<p>本章为 SDK 的开发人员和维护人员提供文档。</p>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="migration_guide.html">从 main 分支迁移到开源 v2-main 分支</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="migration_guide.html#id1">引言</a></li>
+<li class="toctree-l2"><a class="reference internal" href="migration_guide.html#id2">从 main 迁移到 v2-main 的优势</a></li>
+<li class="toctree-l2"><a class="reference internal" href="migration_guide.html#id7">main 和 v2-main 分支的比较</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="building_a_Debian_Package.html">构建 Debian 软件包</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#id1">准备环境</a></li>
+<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#ros">配置 ROS 依赖项</a></li>
+<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html#id2">构建软件包</a></li>
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diff --git a/zh/source/camera_devices/7_developer_guide/migration_guide.html b/zh/source/camera_devices/7_developer_guide/migration_guide.html
new file mode 100644
index 00000000..06d0ae4f
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+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">从 main 分支迁移到开源 v2-main 分支</a><ul>
+<li><a class="reference internal" href="#id1">引言</a></li>
+<li><a class="reference internal" href="#id2">从 main 迁移到 v2-main 的优势</a><ul>
+<li><a class="reference internal" href="#id3"><strong>全面的设备支持</strong></a></li>
+<li><a class="reference internal" href="#id4"><strong>透明性和可扩展性</strong></a></li>
+<li><a class="reference internal" href="#id5">维护和更新优势</a></li>
+<li><a class="reference internal" href="#id6"><strong>社区和生态系统支持</strong></a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id7">main 和 v2-main 分支的比较</a><ul>
+<li><a class="reference internal" href="#id8"><strong>启动文件差异</strong></a></li>
+<li><a class="reference internal" href="#id9"><strong>参数差异</strong></a></li>
+<li><a class="reference internal" href="#id10"><strong>话题差异</strong></a></li>
+<li><a class="reference internal" href="#id11"><strong>服务差异</strong></a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+</div>
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+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="main-v2-main">
+<h1>从 main 分支迁移到开源 v2-main 分支<a class="headerlink" href="#main-v2-main" title="Link to this heading"></a></h1>
+<section id="id1">
+<h2>引言<a class="headerlink" href="#id1" title="Link to this heading"></a></h2>
+<p>最初，奥比中光提供了一个<strong>闭源 SDK — Orbbec SDK v1</strong>，它构成了 <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main">OrbbecSDK ROS2 Wrapper main 分支</a>的基础。虽然 ROS 封装层本身是开源的，但它依赖于闭源的底层 SDK。这种架构限制了灵活性，阻碍了社区驱动的改进。</p>
+<p>随着开发者越来越需要透明性、可维护性和更广泛的设备支持，奥比中光发布了全新的开源 v2-main <strong>— Orbbec SDK_v2</strong> (<a class="reference external" href="https://github.com/orbbec/OrbbecSDK/tree/v2-main">GitHub 链接</a>)。基于此 SDK，<a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2">OrbbecSDK ROS2 的开源 v2-main 分支</a>现在完全开源，提供了更好的可扩展性，并与奥比中光未来的产品路线图保持一致。</p>
+<p>本文档介绍了将 ROS 包从 main 分支（基于 SDK v1）迁移到 v2-main 分支（基于 Orbbec SDK_v2）的动机和好处。它重点介绍了<strong>启动文件、参数、话题和服务</strong>的主要差异，并提供迁移指南帮助开发者顺利过渡。</p>
+<p><strong>注意：</strong> 在以下内容中，<strong>main</strong> 指闭源分支，而 <strong>v2-main</strong> 指开源 v2-main 分支。</p>
+</section>
+<section id="id2">
+<h2>从 main 迁移到 v2-main 的优势<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>2024年10月，奥比中光发布了重大更新：<strong>OrbbecSDK ROS2 Wrapper v2</strong>，它完全基于开源的 Orbbec SDK_v2。与传统的 main 分支（SDK v1.x）相比，v2-main 分支（Orbbec SDK_v2.x）提供了更大的灵活性和可扩展性，同时为所有符合 UVC 标准的奥比中光 USB 产品提供全面支持。从 main --&gt; v2-main 的迁移带来以下关键优势：</p>
+<section id="id3">
+<h3><strong>全面的设备支持</strong><a class="headerlink" href="#id3" title="Link to this heading"></a></h3>
+<p>v2-main 分支支持所有符合 UVC 标准的奥比中光 USB 相机，并将成为支持所有新发布设备的主要平台。</p>
+</section>
+<section id="id4">
+<h3><strong>透明性和可扩展性</strong><a class="headerlink" href="#id4" title="Link to this heading"></a></h3>
+<p>Orbbec SDK_v2 完全开源，允许开发者直接访问底层实现，便于调试、优化和二次开发。相比之下，SDK v1 是闭源的，引入了&quot;黑盒&quot;约束。</p>
+</section>
+<section id="id5">
+<h3>维护和更新优势<a class="headerlink" href="#id5" title="Link to this heading"></a></h3>
+<p>v2-main 分支提供全功能支持，包括新功能开发、性能优化和错误修复。main 分支已进入仅维护模式，只有关键错误可能获得有限更新，不再开发新功能。</p>
+</section>
+<section id="id6">
+<h3><strong>社区和生态系统支持</strong><a class="headerlink" href="#id6" title="Link to this heading"></a></h3>
+<p>有了开源 SDK，开发者可以直接在 GitHub 或 Gitee 上提交问题和拉取请求，为功能演进做出贡献。这不仅加速了问题解决，还促进了更开放和活跃的奥比中光生态系统。</p>
+</section>
+</section>
+<section id="id7">
+<h2>main 和 v2-main 分支的比较<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<section id="id8">
+<h3><strong>启动文件差异</strong><a class="headerlink" href="#id8" title="Link to this heading"></a></h3>
+<ol class="simple">
+<li><p>在 v2-main 中，为 Gemini 330 系列添加了新的低功耗启动文件：</p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">gemini_330_series_low_cpu.launch.py</span></code></p></li>
+</ul>
+</li>
+<li><p>v2-main 引入了对 <strong>Gemini 435Le</strong>、<strong>Gemini 345</strong> 和 <strong>Gemini 345Lg</strong> 相机的支持。</p></li>
+<li><p>由于 <strong>OrbbecSDK_v2 仅支持 UVC 设备</strong>，v2-main 中支持的相机型号范围比 main 略窄。详细信息见下表。</p></li>
+</ol>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>相机</strong></th>
+<th><strong>main</strong></th>
+<th><strong>v2-main</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>Gemini 435Le</td>
+<td>不支持</td>
+<td>gemini435_le.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 345</td>
+<td>不支持</td>
+<td>gemini345.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 345Lg</td>
+<td>不支持</td>
+<td>gemini345_lg.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 330 系列</td>
+<td>gemini_330_series.launch.py</td>
+<td>gemini_330_series.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 330 低CPU</td>
+<td>-</td>
+<td>gemini_330_series_low_cpu.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 210</td>
+<td>gemini210.launch.py</td>
+<td>gemini210.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 2</td>
+<td>gemini2.launch.py</td>
+<td>gemini2.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 2L</td>
+<td>gemini2L.launch.py</td>
+<td>gemini2.launch.py</td>
+</tr>
+<tr>
+<td>Gemini 2XL</td>
+<td>gemini2XL.launch.py</td>
+<td>-</td>
+</tr>
+<tr>
+<td>Femto Bolt</td>
+<td>femto_bolt.launch.py</td>
+<td>femto_bolt.launch.py</td>
+</tr>
+<tr>
+<td>Femto Mega</td>
+<td>femto_mega.launch.py</td>
+<td>femto_mega.launch.py</td>
+</tr>
+<tr>
+<td>Femto</td>
+<td>femto.launch.py</td>
+<td>femto.launch.py</td>
+</tr>
+<tr>
+<td>Astra 2</td>
+<td>astra2.launch.py</td>
+<td>astra2.launch.py</td>
+</tr>
+<tr>
+<td>Astra</td>
+<td>astra.launch.py</td>
+<td>astra.launch.py</td>
+</tr>
+<tr>
+<td>Astra Mini Pro / S Pro</td>
+<td>astra_mini_pro.launch.py ...</td>
+<td>astra.launch.py</td>
+</tr>
+<tr>
+<td>多相机（同步）</td>
+<td>multi_camera_synced.launch.py</td>
+<td>multi_camera_synced.launch.py</td>
+</tr>
+<tr>
+<td>多相机（通用/通用）</td>
+<td>multi_camera.launch.py</td>
+<td>multi_camera.launch.py 或 orbbec_multicamera.launch.py</td>
+</tr>
+<tr>
+<td>单相机通用启动</td>
+<td>ob_camera.launch.py</td>
+<td>orbbec_camera.launch.py</td>
+</tr>
+<tr>
+<td>OpenNI 设备（大白、得雅）</td>
+<td>对应型号独立文件</td>
+<td>不支持</td>
+</tr>
+</tbody>
+</table></section>
+<section id="id9">
+<h3><strong>参数差异</strong><a class="headerlink" href="#id9" title="Link to this heading"></a></h3>
+<p><strong>v2-main 中的新参数（main 中不可用）</strong></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>参数名称</strong></th>
+<th><strong>main</strong></th>
+<th><strong>v2-main</strong></th>
+<th><strong>描述</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>upgrade_firmware</td>
+<td>-</td>
+<td>已添加</td>
+<td>固件升级路径</td>
+</tr>
+<tr>
+<td>preset_firmware_path</td>
+<td>-</td>
+<td>已添加</td>
+<td>预设固件文件路径</td>
+</tr>
+<tr>
+<td>load_config_json_file_path</td>
+<td>-</td>
+<td>已添加</td>
+<td>加载 JSON 配置</td>
+</tr>
+<tr>
+<td>export_config_json_file_path</td>
+<td>-</td>
+<td>已添加</td>
+<td>导出 JSON 配置</td>
+</tr>
+<tr>
+<td>uvc_backend</td>
+<td>-</td>
+<td>已添加</td>
+<td>libuvc / v4l2 后端选择</td>
+</tr>
+<tr>
+<td>enable_color_auto_exposure_priority</td>
+<td>-</td>
+<td>已添加</td>
+<td>AE 优先级控制</td>
+</tr>
+<tr>
+<td>color_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>彩色图像垂直翻转</td>
+</tr>
+<tr>
+<td>color_mirror</td>
+<td>-</td>
+<td>已添加</td>
+<td>彩色图像水平镜像</td>
+</tr>
+<tr>
+<td>depth_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>深度图像垂直翻转</td>
+</tr>
+<tr>
+<td>depth_mirror</td>
+<td>-</td>
+<td>已添加</td>
+<td>深度图像水平镜像</td>
+</tr>
+<tr>
+<td>left_ir_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外垂直翻转</td>
+</tr>
+<tr>
+<td>left_ir_mirror</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外水平镜像</td>
+</tr>
+<tr>
+<td>right_ir_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外垂直翻转</td>
+</tr>
+<tr>
+<td>right_ir_mirror</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外水平镜像</td>
+</tr>
+<tr>
+<td>enable_left_ir_sequence_id_filter</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外序列 ID 滤波器</td>
+</tr>
+<tr>
+<td>enable_right_ir_sequence_id_filter</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外序列 ID 滤波器</td>
+</tr>
+<tr>
+<td>enable_accel_data_correction</td>
+<td>-</td>
+<td>已添加</td>
+<td>加速度计数据校正</td>
+</tr>
+<tr>
+<td>enable_gyro_data_correction</td>
+<td>-</td>
+<td>已添加</td>
+<td>陀螺仪数据校正</td>
+</tr>
+<tr>
+<td>enumerate_net_device</td>
+<td>-</td>
+<td>已添加</td>
+<td>自动枚举网络设备</td>
+</tr>
+<tr>
+<td>net_device_ip</td>
+<td>-</td>
+<td>已添加</td>
+<td>网络设备 IP 地址</td>
+</tr>
+<tr>
+<td>net_device_port</td>
+<td>-</td>
+<td>已添加</td>
+<td>网络设备端口</td>
+</tr>
+<tr>
+<td>exposure_range_mode</td>
+<td>-</td>
+<td>已添加</td>
+<td>曝光范围模式：default / ultimate / regular</td>
+</tr>
+<tr>
+<td>disparity_to_depth_mode</td>
+<td>-</td>
+<td>已添加</td>
+<td>硬件视差到深度转换</td>
+</tr>
+<tr>
+<td>ldp_power_level</td>
+<td>-</td>
+<td>已添加</td>
+<td>LDP 功率级别</td>
+</tr>
+<tr>
+<td>time_sync_period</td>
+<td>-</td>
+<td>已添加</td>
+<td>时间同步周期</td>
+</tr>
+<tr>
+<td>gmsl_trigger_fps</td>
+<td>-</td>
+<td>已添加</td>
+<td>GMSL 触发帧率</td>
+</tr>
+<tr>
+<td>enable_gmsl_trigger</td>
+<td>-</td>
+<td>已添加</td>
+<td>GMSL 触发启用</td>
+</tr>
+<tr>
+<td>disparity_range_mode</td>
+<td>-</td>
+<td>已添加</td>
+<td>视差范围模式</td>
+</tr>
+<tr>
+<td>disparity_search_offset</td>
+<td>-</td>
+<td>已添加</td>
+<td>视差搜索偏移</td>
+</tr>
+<tr>
+<td>disparity_offset_config</td>
+<td>-</td>
+<td>已添加</td>
+<td>视差偏移配置</td>
+</tr>
+<tr>
+<td>offset_index0</td>
+<td>-</td>
+<td>已添加</td>
+<td>视差偏移索引 0</td>
+</tr>
+<tr>
+<td>offset_index1</td>
+<td>-</td>
+<td>已添加</td>
+<td>视差偏移索引 1</td>
+</tr>
+<tr>
+<td>interleave_ae_mode</td>
+<td>-</td>
+<td>已添加</td>
+<td>AE 交错模式</td>
+</tr>
+<tr>
+<td>interleave_frame_enable</td>
+<td>-</td>
+<td>已添加</td>
+<td>交错帧启用</td>
+</tr>
+<tr>
+<td>interleave_skip_enable</td>
+<td>-</td>
+<td>已添加</td>
+<td>跳过红外帧启用</td>
+</tr>
+<tr>
+<td>interleave_skip_index</td>
+<td>-</td>
+<td>已添加</td>
+<td>跳过红外帧索引</td>
+</tr>
+<tr>
+<td>hdr_index1_laser_control</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 激光控制参数</td>
+</tr>
+<tr>
+<td>hdr_index1_depth_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 深度曝光</td>
+</tr>
+<tr>
+<td>hdr_index1_depth_gain</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 深度增益</td>
+</tr>
+<tr>
+<td>hdr_index1_ir_brightness</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 红外亮度</td>
+</tr>
+<tr>
+<td>hdr_index1_ir_ae_max_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 红外最大 AE</td>
+</tr>
+<tr>
+<td>hdr_index0_laser_control</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 激光控制参数</td>
+</tr>
+<tr>
+<td>hdr_index0_depth_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 深度曝光</td>
+</tr>
+<tr>
+<td>hdr_index0_depth_gain</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 深度增益</td>
+</tr>
+<tr>
+<td>hdr_index0_ir_brightness</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 红外亮度</td>
+</tr>
+<tr>
+<td>hdr_index0_ir_ae_max_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>HDR 红外最大 AE</td>
+</tr>
+<tr>
+<td>laser_index1_laser_control</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光交错控制</td>
+</tr>
+<tr>
+<td>laser_index1_depth_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光深度曝光</td>
+</tr>
+<tr>
+<td>laser_index1_depth_gain</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光深度增益</td>
+</tr>
+<tr>
+<td>laser_index1_ir_brightness</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光红外亮度</td>
+</tr>
+<tr>
+<td>laser_index1_ir_ae_max_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光红外最大 AE</td>
+</tr>
+<tr>
+<td>laser_index0_laser_control</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光交错控制</td>
+</tr>
+<tr>
+<td>laser_index0_depth_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光深度曝光</td>
+</tr>
+<tr>
+<td>laser_index0_depth_gain</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光深度增益</td>
+</tr>
+<tr>
+<td>laser_index0_ir_brightness</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光红外亮度</td>
+</tr>
+<tr>
+<td>laser_index0_ir_ae_max_exposure</td>
+<td>-</td>
+<td>已添加</td>
+<td>激光红外最大 AE</td>
+</tr>
+<tr>
+<td>software_trigger_enabled</td>
+<td>-</td>
+<td>已添加</td>
+<td>软件触发启用</td>
+</tr>
+<tr>
+<td>enable_ptp_config</td>
+<td>-</td>
+<td>已添加</td>
+<td>PTP 配置（Gemini 335Le）</td>
+</tr>
+<tr>
+<td>align_target_stream</td>
+<td>-</td>
+<td>已添加</td>
+<td>对齐目标流</td>
+</tr>
+<tr>
+<td>spatial_fast_filter_radius</td>
+<td>-</td>
+<td>已添加</td>
+<td>快速空间滤波器半径</td>
+</tr>
+<tr>
+<td>spatial_moderate_filter_diff_threshold</td>
+<td>-</td>
+<td>已添加</td>
+<td>中等空间滤波器差异阈值</td>
+</tr>
+<tr>
+<td>spatial_moderate_filter_magnitude</td>
+<td>-</td>
+<td>已添加</td>
+<td>中等空间滤波器幅度</td>
+</tr>
+<tr>
+<td>spatial_moderate_filter_radius</td>
+<td>-</td>
+<td>已添加</td>
+<td>中等空间滤波器半径</td>
+</tr>
+<tr>
+<td>color.image_raw.enable_pub_plugins</td>
+<td>-</td>
+<td>已添加</td>
+<td>彩色图像传输插件</td>
+</tr>
+<tr>
+<td>depth.image_raw.enable_pub_plugins</td>
+<td>-</td>
+<td>已添加</td>
+<td>深度图像传输插件</td>
+</tr>
+<tr>
+<td>left_ir.image_raw.enable_pub_plugins</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外传输插件</td>
+</tr>
+<tr>
+<td>right_ir.image_raw.enable_pub_plugins</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外传输插件</td>
+</tr>
+<tr>
+<td>force_ip_enable</td>
+<td>-</td>
+<td>已添加</td>
+<td>强制 IP 功能</td>
+</tr>
+<tr>
+<td>force_ip_mac</td>
+<td>-</td>
+<td>已添加</td>
+<td>强制 IP MAC 地址</td>
+</tr>
+<tr>
+<td>force_ip_dhcp</td>
+<td>-</td>
+<td>已添加</td>
+<td>DHCP 自动分配</td>
+</tr>
+<tr>
+<td>force_ip_address</td>
+<td>-</td>
+<td>已添加</td>
+<td>强制 IP 静态地址</td>
+</tr>
+<tr>
+<td>force_ip_subnet_mask</td>
+<td>-</td>
+<td>已添加</td>
+<td>强制 IP 子网掩码</td>
+</tr>
+<tr>
+<td>force_ip_gateway</td>
+<td>-</td>
+<td>已添加</td>
+<td>强制 IP 网关</td>
+</tr>
+</tbody>
+</table><p><strong>已移除参数（仅 main 有，v2-main 中已移除）</strong></p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>参数</strong></th>
+<th><strong>描述</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>enable_3d_reconstruction_mode</td>
+<td>3D 重建模式已弃用</td>
+</tr>
+<tr>
+<td>enable_hardware_reset</td>
+<td>硬件重置接口已弃用</td>
+</tr>
+<tr>
+<td>enable_hardware_noise_removal_filter</td>
+<td>硬件噪声去除滤波器已弃用</td>
+</tr>
+<tr>
+<td>laser_on_off_mode</td>
+<td>旧激光开关接口，由 interleave / laser_index 替换</td>
+</tr>
+<tr>
+<td>enable_3d_reconstruction_mode</td>
+<td>3D 重建模式重复；v2-main 中不再使用</td>
+</tr>
+<tr>
+<td>device_preset</td>
+<td>部分逻辑迁移到新固件 / 交错参数</td>
+</tr>
+<tr>
+<td>enable_trigger_out</td>
+<td>旧软件触发接口由 software_trigger_enabled 替换</td>
+</tr>
+<tr>
+<td>retry_on_usb3_detection_failure</td>
+<td>可选；v2-main 中逻辑已调整或移除</td>
+</tr>
+<tr>
+<td>enable_color_undistortion</td>
+<td>旧接口逻辑集成到其他地方；v2-main 中仍存在但使用可能已调整</td>
+</tr>
+</tbody>
+</table></section>
+<section id="id10">
+<h3><strong>话题差异</strong><a class="headerlink" href="#id10" title="Link to this heading"></a></h3>
+<p><strong>v2-main</strong> 在 main 基础上添加了以下话题：</p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>话题</strong></th>
+<th><strong>main</strong></th>
+<th><strong>v2-main</strong></th>
+<th><strong>描述</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>/camera/device_status</td>
+<td>-</td>
+<td>已添加</td>
+<td>发布设备状态（帧率延迟、设备连接状态等）</td>
+</tr>
+</tbody>
+</table></section>
+<section id="id11">
+<h3><strong>服务差异</strong><a class="headerlink" href="#id11" title="Link to this heading"></a></h3>
+<p><strong>v2-main</strong> 在 main 基础上添加了以下服务：</p>
+<table border="1" class="docutils">
+<thead>
+<tr>
+<th><strong>服务</strong></th>
+<th><strong>main</strong></th>
+<th><strong>v2-main</strong></th>
+<th><strong>描述</strong></th>
+</tr>
+</thead>
+<tbody>
+<tr>
+<td>get_ptp_config</td>
+<td>-</td>
+<td>已添加</td>
+<td>获取 PTP 配置</td>
+</tr>
+<tr>
+<td>set_ptp_config</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置 PTP 配置</td>
+</tr>
+<tr>
+<td>get_streams_enable</td>
+<td>-</td>
+<td>已添加</td>
+<td>获取每个流的启用状态</td>
+</tr>
+<tr>
+<td>set_streams_enable</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置每个流的启用状态</td>
+</tr>
+<tr>
+<td>get_user_calib_params</td>
+<td>-</td>
+<td>已添加</td>
+<td>获取用户校准参数</td>
+</tr>
+<tr>
+<td>set_user_calib_params</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置用户校准参数</td>
+</tr>
+<tr>
+<td>read_customer_data</td>
+<td>-</td>
+<td>已添加</td>
+<td>读取用户存储的自定义数据</td>
+</tr>
+<tr>
+<td>write_customer_data</td>
+<td>-</td>
+<td>已添加</td>
+<td>写入用户存储的自定义数据</td>
+</tr>
+<tr>
+<td>send_software_trigger</td>
+<td>-</td>
+<td>已添加</td>
+<td>发送软件触发</td>
+</tr>
+<tr>
+<td>set_color_ae_roi</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置彩色图像的 AE ROI</td>
+</tr>
+<tr>
+<td>set_depth_ae_roi</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置深度图像的 AE ROI</td>
+</tr>
+<tr>
+<td>set_color_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置彩色图像垂直翻转</td>
+</tr>
+<tr>
+<td>set_depth_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置深度图像垂直翻转</td>
+</tr>
+<tr>
+<td>set_color_rotation</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置彩色图像旋转</td>
+</tr>
+<tr>
+<td>set_depth_rotation</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置深度图像旋转</td>
+</tr>
+<tr>
+<td>set_left_ir_ae_roi</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置左红外的 AE ROI</td>
+</tr>
+<tr>
+<td>set_right_ir_ae_roi</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置右红外的 AE ROI</td>
+</tr>
+<tr>
+<td>set_left_ir_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外垂直翻转</td>
+</tr>
+<tr>
+<td>set_right_ir_flip</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外垂直翻转</td>
+</tr>
+<tr>
+<td>set_left_ir_rotation</td>
+<td>-</td>
+<td>已添加</td>
+<td>左红外旋转</td>
+</tr>
+<tr>
+<td>set_right_ir_rotation</td>
+<td>-</td>
+<td>已添加</td>
+<td>右红外旋转</td>
+</tr>
+<tr>
+<td>set_reset_timestamp</td>
+<td>-</td>
+<td>已添加</td>
+<td>重置时间戳</td>
+</tr>
+<tr>
+<td>set_sync_hosttime</td>
+<td>-</td>
+<td>已添加</td>
+<td>同步主机时间</td>
+</tr>
+<tr>
+<td>set_sync_interleaverlaser</td>
+<td>-</td>
+<td>已添加</td>
+<td>交错激光同步</td>
+</tr>
+<tr>
+<td>set_filter</td>
+<td>-</td>
+<td>已添加</td>
+<td>设置深度/点云滤波器</td>
+</tr>
+</tbody>
+</table></section>
+</section>
+</section>
+
+
+           </div>
+          </div>
+          <footer>
+
+  <hr/>
+
+  <div role="contentinfo">
+    <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      </span></p>
+  </div>
+
+   
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diff --git a/zh/source/camera_devices/8_FAQ/FAQ.html b/zh/source/camera_devices/8_FAQ/FAQ.html
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,191 @@
+
+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../../">
+<head>
+  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />
+
+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
+  <title>常见问题 &mdash; OrbbecSDK V2 ROS2 封装  文档</title>
+      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />
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+      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
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+      <script src="../../../_static/documentation_options.js?v=7d86a446"></script>
+      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
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+    <script src="../../../_static/js/theme.js"></script>
+    <link rel="index" title="索引" href="../../../genindex.html" />
+    <link rel="search" title="搜索" href="../../../search.html" /> 
+</head>
+
+<body class="wy-body-for-nav"> 
+  <div class="wy-grid-for-nav">
+    <nav data-toggle="wy-nav-shift" class="wy-nav-side">
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+        <div class="wy-side-nav-search" >
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+          
+          
+          <a href="../../../index.html" class="icon icon-home">
+            OrbbecSDK V2 ROS2 封装
+          </a>
+<div role="search">
+  <form id="rtd-search-form" class="wy-form" action="../../../search.html" method="get">
+    <input type="text" name="q" placeholder="搜索文档" aria-label="搜索文档" />
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+    <input type="hidden" name="area" value="default" />
+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">常见问题</a><ul>
+<li><a class="reference internal" href="#id2">意外崩溃</a></li>
+<li><a class="reference internal" href="#id3">多相机无数据流</a></li>
+<li><a class="reference internal" href="#id4">其他故障排除</a></li>
+<li><a class="reference internal" href="#id5">为什么有这么多启动文件？</a></li>
+<li><a class="reference internal" href="#id6">多相机连接时如何指定启动某一个相机</a></li>
+<li><a class="reference internal" href="#id7">多相机启动或切换流时为什么需要设置延迟？</a></li>
+<li><a class="reference internal" href="#femto-bolt">femto bolt 深度流无数据</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
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+          <a href="../../../index.html">OrbbecSDK V2 ROS2 封装</a>
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+            <a href="../../../_sources/source/camera_devices/8_FAQ/FAQ.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="id1">
+<h1>常见问题<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<section id="id2">
+<h2>意外崩溃<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>如果相机节点意外崩溃，它将在当前运行目录中生成崩溃日志：<code class="docutils literal notranslate"><span class="pre">Log/camera_crash_stack_trace_xx.log</span></code>。请将此日志发送给支持团队或提交到GitHub issue以获得进一步帮助。</p>
+</section>
+<section id="id3">
+<h2>多相机无数据流<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<p><strong>电源供应不足</strong>：</p>
+<ul class="simple">
+<li><p>确保每个相机连接到单独的集线器。</p></li>
+<li><p>使用有源集线器为每个相机提供足够的电力。</p></li>
+</ul>
+<p><strong>高分辨率</strong>：</p>
+<ul class="simple">
+<li><p>尝试降低分辨率以解决数据流问题。</p></li>
+</ul>
+<p><strong>增加usbfs_memory_mb值</strong>：</p>
+<ul class="simple">
+<li><p>通过运行以下命令将 <code class="docutils literal notranslate"><span class="pre">usbfs_memory_mb</span></code> 值增加到128MB（这是参考值，可根据系统需求调整）：</p></li>
+</ul>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span>    <span class="n">echo</span> <span class="mi">128</span> <span class="o">|</span> <span class="n">sudo</span> <span class="n">tee</span> <span class="o">/</span><span class="n">sys</span><span class="o">/</span><span class="n">module</span><span class="o">/</span><span class="n">usbcore</span><span class="o">/</span><span class="n">parameters</span><span class="o">/</span><span class="n">usbfs_memory_mb</span>
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>要使此更改永久生效，请查看<a class="reference external" href="https://github.com/OpenKinect/libfreenect2/issues/807">此链接</a>。</p></li>
+</ul>
+</section>
+<section id="id4">
+<h2>其他故障排除<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>如果遇到其他问题，将 <code class="docutils literal notranslate"><span class="pre">log_level</span></code> 参数设置为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>。这将在运行目录中生成SDK日志文件：<code class="docutils literal notranslate"><span class="pre">Log/OrbbecSDK.log.txt</span></code>。请将此文件提供给支持团队以获得进一步帮助。</p></li>
+<li><p>如果需要固件日志，将 <code class="docutils literal notranslate"><span class="pre">enable_heartbeat</span></code> 设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code> 以激活此功能。</p></li>
+</ul>
+</section>
+<section id="id5">
+<h2>为什么有这么多启动文件？<a class="headerlink" href="#id5" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>不同的相机具有不同的默认分辨率和图像格式。</p></li>
+<li><p>为简化使用，每个相机都有自己的启动文件。</p></li>
+</ul>
+</section>
+<section id="id6">
+<h2>多相机连接时如何指定启动某一个相机<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
+<p>如果启动文件未显式指定要使用的设备，在同时连接多台相机时，驱动会默认连接到其中一个（默认设备）。</p>
+<p>可以先通过以下命令查看设备序列号：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+<p>然后在启动时显式指定序列号，例如：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_bolt.launch.py<span class="w"> </span>serial_number:<span class="o">=</span>CL8H741005J
+</pre></div>
+</div>
+</section>
+<section id="id7">
+<h2>多相机启动或切换流时为什么需要设置延迟？<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<p>多相机系统对带宽和设备初始化时序要求较高。如果在同一时间启动或切换多个相机流，可能会引发带宽瞬时拥塞，进而导致设备初始化失败、流启动异常或丢帧等问题。为确保系统稳定性，建议注意以下几点：</p>
+<ul>
+<li><p><strong>多相机启动阶段</strong></p>
+<p>在启动多个相机时，建议在每个相机启动之间增加适当的延迟（例如 <strong>2s</strong>），以避免瞬时带宽过载或底层设备初始化冲突。</p>
+</li>
+<li><p><strong>流开关与模式切换阶段</strong></p>
+<p>在调用开关流相关服务（如 <code class="docutils literal notranslate"><span class="pre">set_streams_enable</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_depth</span></code>、<code class="docutils literal notranslate"><span class="pre">toggle_color</span></code>）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 <strong>20 ms</strong>），以保证流状态切换的可靠性。</p>
+</li>
+</ul>
+<p>遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。</p>
+</section>
+<section id="femto-bolt">
+<h2>femto bolt 深度流无数据<a class="headerlink" href="#femto-bolt" title="Link to this heading"></a></h2>
+<p>该模组运行时依赖 OpenGL 库，若系统未安装或驱动不完整，将导致深度流无数据。请先安装 OpenGL 相关库（以 Ubuntu 为例）：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>sudo<span class="w"> </span>apt<span class="w"> </span>update<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>-y<span class="w"> </span>mesa-utils<span class="w"> </span>libgl1-mesa-glx<span class="w"> </span>libglu1-mesa
+</pre></div>
+</div>
+<p>安装后可通过以下命令检查 OpenGL 是否可用：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w">  </span>glxinfo<span class="w"> </span>-B
+</pre></div>
+</div>
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+<h1>Camera Devices<a class="headerlink" href="#camera-devices" title="Link to this heading"></a></h1>
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-              <ul>
-<li class="toctree-l1"><a class="reference internal" href="1_overview/overview.html">1. 概述</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="1_overview/introduction.html">1.1. 引言</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#id2">1.1.1. 支持的硬件产品</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#orbbec">1.1.2. Orbbec 相机规格书</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/introduction.html#id3">1.1.3. 支持的平台</a></li>
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">License</a></li>
 </ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK 概述</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#id1">1.2.1. 术语</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#orbbec-sdk-v2">1.2.2. Orbbec SDK v2 架构概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#sdk">1.2.3. SDK 概念概述</a></li>
-<li class="toctree-l3"><a class="reference internal" href="1_overview/orbbecsdk_overview.html#id2">1.2.4. SDK 编程模型</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="2_installation/installation.html">2. 安装</a><ul>
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-<li class="toctree-l2"><a class="reference internal" href="2_installation/build_the_package.html#id2">2.2. 二进制安装</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/build_the_package.html#linux">2.2.1. Linux 二进制包安装</a></li>
-</ul>
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-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="2_installation/registration_script.html">2.4. 注册脚本（必需）</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#id2">2.4.1. 二进制安装</a></li>
-<li class="toctree-l3"><a class="reference internal" href="2_installation/registration_script.html#id3">2.4.2. 从源码构建</a></li>
-</ul>
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-<li class="toctree-l1"><a class="reference internal" href="3_quickstarts/quickstarts.html">3. 快速开始</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="3_quickstarts/quickstart.html">3.1. ROS 包快速入门</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#id1">3.1.1. 简介</a></li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#id2">3.1.2. 构建您的第一个相机应用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#ros-2">3.1.2.1. 步骤 1：配置 ROS 2 和工作空间环境</a></li>
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-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#rviz2">3.1.2.3. 步骤 3：在 RViz2 中可视化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="3_quickstarts/quickstart.html#id4">3.1.3. 示例功能</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="3_quickstarts/quickstart.html#id5">3.1.3.1. 列出可用的话题/服务/参数</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/launch_parameters.html#id2">4.1.1. 核心与数据流配置</a></li>
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-</ul>
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-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/services.html#id7">4.2.2. 传感器与发射器控制</a></li>
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-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#id3">4.3.2. 点云话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#imu">4.3.3. IMU话题</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/topics.html#id4">4.3.4. 设备状态与诊断</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html">4.4. 坐标系和 TF 变换</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#abtf">4.4.2. 从坐标系A到坐标系B的TF变换：</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#rviz2tf">4.4.4.2. 使用rviz2可视化TF树</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id3">4.4.5. 相机TF计算和发布机制</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：OBCameraNode::calcAndPublishStaticTransform()</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/coordinate_and_tf.html#id4">4.4.5.2. 函数解析</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/compressed_image.html">4.5. 压缩图像</a></li>
-<li class="toctree-l2"><a class="reference internal" href="4_application_guide/point_cloud.html">4.6. 在ROS 2中启用和可视化点云</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id1">4.6.1. 启用深度点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id2">4.6.1.1. 启用深度点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#rviz2">4.6.1.2. 在RViz2中可视化深度点云</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="4_application_guide/point_cloud.html#id3">4.6.2. 启用彩色点云</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id4">4.6.2.1. 启用彩色点云的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="4_application_guide/point_cloud.html#id5">4.6.2.2. 在RViz2中可视化彩色点云</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="5_advanced_guide/advanced_guide.html">5. 高级指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#id2">5.1. 性能与优化</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html">5.1.1. 使用Orbbec ROS包降低CPU使用率</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#cpu">5.1.1.1. 降低CPU使用率的推荐设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#id1">5.1.1.2. 用于测试的启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#id2">5.1.1.3. 测试环境</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#id3">5.1.1.4. 测试设置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#id4">5.1.1.5. 测试结果</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/lower_cpu_usage.html#id5">5.1.1.6. 进一步优化</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html">5.1.2. 高效的进程内通信：</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#id2">5.1.2.1. 简介</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/efficient_intra_process_communication.html#id3">5.1.2.2. 示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html">5.1.3. 针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#id1">5.1.3.1. 调整系统参数</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/performance/fastdds_tuning.html#fast-dds">5.1.3.2. Fast DDS配置</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#id3">5.2. 多相机</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html">5.2.1. 多相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#id2">5.2.1.1. 多相机无数据流</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera.html#id3">5.2.1.2. 多相机图像话题帧率过低</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html">5.2.2. 多相机同步说明</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#id2">5.2.2.1. 设置说明</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#orbbecsdk-ros2">5.2.2.2. 使用 OrbbecSDK_ROS2 检查相机端口</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#id3">5.2.2.3. OrbbecSDK_ROS2 多相机同步配置</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced.html#id4">5.2.2.4. 运行以下命令启动多相机同步</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html">5.2.3. 多相机同步验证节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id2">5.2.3.1. 使用教程</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#multi-camera-synced-launch-py">5.2.3.1.1. <strong>在 <code class="docutils literal notranslate"><span class="pre">multi_camera_synced.launch.py</span></code> 的基础上做以下修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id3">5.2.3.1.2. <strong>参数文件修改</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id4">5.2.3.1.3. <strong>启动与验证</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#launch">5.2.3.1.4. <strong>参考 launch 文件</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#id5">5.2.3.2. 必要系统配置</a><ul>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#usb">5.2.3.2.1. <strong>提升 USB 缓冲区容量</strong></a></li>
-<li class="toctree-l5"><a class="reference internal" href="5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html#fast-dds">5.2.3.2.2. <strong>配置 Fast DDS</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html">5.2.4. GMSL 相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#id1">5.2.4.1. 单个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#id2">5.2.4.2. 多个 GMSL 相机</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#id3">5.2.4.3. 多个 GMSL 相机同步</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/multi_camera/gmsl_camera.html#id4">5.2.4.4. GMSL 相机的使用限制</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="5_advanced_guide/advanced_guide.html#id4">5.3. 配置与模式</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html">5.3.1. 在 ROS 2 中对齐深度到彩色</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#id1">5.3.1.1. 对齐和查看深度和彩色图像的命令</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#rviz2">5.3.1.2. 在 RViz2 中选择话题</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/align_depth_color.html#id2">5.3.1.3. 深度到彩色叠加示例</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html">5.3.2. 深度 NFOV 和 WFOV 模式配置</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/depth_work_mode_switch.html">5.3.3. 深度工作模式切换</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html">5.3.4. 视差搜索偏移</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#id2">5.3.4.1. 功能介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#id3">5.3.4.2. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/disparity_search_offset.html#id4">5.3.4.3. 运行启动文件</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html">5.3.5. 在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#id1">5.3.5.1. 参数介绍</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#id2">5.3.5.2. 运行启动文件</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.3.5.3. Multi_camera_synced + Interleave_ae</a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/predefined_presets.html">5.3.6. 预定义预设</a></li>
-<li class="toctree-l3"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html">5.3.7. 网络相机</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#femto-mega-gemini-435le-gemini-335le">5.3.7.1. Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#set-device-ip">5.3.7.2. set_device_ip 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="5_advanced_guide/configuration/net_camera.html#ip">5.3.7.3. 强制 IP 功能</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="6_benchmark/benchmark.html">6. 性能基准测试</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/introduction.html">6.1. 介绍</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#id2">6.1.1. 通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/introduction.html#id3">6.1.2. 服务基准测试节点</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_usage.html">6.2. 性能基准测试使用</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#id2">6.2.1. 使用通用基准测试节点</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_usage.html#id3">6.2.2. 使用服务基准测试节点</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-c">6.2.2.1. ROS2 C++</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#ros2-python">6.2.2.2. ROS2 Python</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/benchmark_usage.html#yaml">6.2.2.3. <strong>示例 YAML 配置</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="6_benchmark/othertools.html">6.4. 其他工具</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
-<li class="toctree-l4"><a class="reference internal" href="6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
-</ul>
-</li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="7_developer_guide/developer_guide.html">7. 开发者指南</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/migration_guide.html">7.1. 从 main 分支迁移到开源 v2-main 分支</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id1">7.1.1. 引言</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id2">7.1.2. 从 main 迁移到 v2-main 的优势</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id3">7.1.2.1. <strong>全面的设备支持</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id4">7.1.2.2. <strong>透明性和可扩展性</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id5">7.1.2.3. 维护和更新优势</a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id6">7.1.2.4. <strong>社区和生态系统支持</strong></a></li>
-</ul>
-</li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/migration_guide.html#id7">7.1.3. main 和 v2-main 分支的比较</a><ul>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id8">7.1.3.1. <strong>启动文件差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id9">7.1.3.2. <strong>参数差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id10">7.1.3.3. <strong>话题差异</strong></a></li>
-<li class="toctree-l4"><a class="reference internal" href="7_developer_guide/migration_guide.html#id11">7.1.3.4. <strong>服务差异</strong></a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l2"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html">7.2. 构建 Debian 软件包</a><ul>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#id1">7.2.1. 准备环境</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#ros">7.2.2. 配置 ROS 依赖项</a></li>
-<li class="toctree-l3"><a class="reference internal" href="7_developer_guide/building_a_Debian_Package.html#id2">7.2.3. 构建软件包</a></li>
-</ul>
-</li>
-</ul>
-</li>
-<li class="toctree-l1"><a class="reference internal" href="8_FAQ/FAQ.html">8. 常见问题</a><ul>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id2">8.1. 意外崩溃</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id3">8.2. 多相机无数据流</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id4">8.3. 其他故障排除</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id5">8.4. 为什么有这么多启动文件？</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id6">8.5. 多相机连接时如何指定启动某一个相机</a></li>
-<li class="toctree-l2"><a class="reference internal" href="8_FAQ/FAQ.html#id7">8.6. 多相机启动或切换流时为什么需要设置延迟？</a></li>
-</ul>
-</li>
-</ul>
-
+</div>
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     </nav>
@@ -397,7 +93,7 @@ language governing permissions and limitations under the License.</p>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2025年12月15日 11:57:25.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
       </span></p>
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diff --git a/zh/source/lidar_devices/index.html b/zh/source/lidar_devices/index.html
new file mode 100644
index 00000000..faf57f2a
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+++ b/zh/source/lidar_devices/index.html
@@ -0,0 +1,114 @@
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+<!DOCTYPE html>
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+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="lidar-devices">
+<h1>Lidar Devices<a class="headerlink" href="#lidar-devices" title="Link to this heading"></a></h1>
+<div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html">1. 安装</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#id5">2. 使用方法</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#id10">3. 点云数据详细说明</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu">4. IMU数据</a></li>
+</ul>
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+      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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diff --git a/zh/source/lidar_devices/lidar.html b/zh/source/lidar_devices/lidar.html
new file mode 100644
index 00000000..14d7e19c
--- /dev/null
+++ b/zh/source/lidar_devices/lidar.html
@@ -0,0 +1,347 @@
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+
+<!DOCTYPE html>
+<html class="writer-html5" lang="zh-CN" data-content_root="../../">
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+  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
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+            OrbbecSDK V2 ROS2 封装
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+  </form>
+</div>
+        </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
+              <!-- Local TOC -->
+              <div class="local-toc"><ul>
+<li><a class="reference internal" href="#">1. 安装</a><ul>
+<li><a class="reference internal" href="#id2">1.1. 先决条件</a></li>
+<li><a class="reference internal" href="#deb">1.2. 安装deb依赖项</a></li>
+<li><a class="reference internal" href="#udev">1.3. 安装udev规则</a></li>
+<li><a class="reference internal" href="#id3">1.4. 构建包</a></li>
+<li><a class="reference internal" href="#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id5">2. 使用方法</a><ul>
+<li><a class="reference internal" href="#id6">2.1. 运行驱动</a></li>
+<li><a class="reference internal" href="#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li><a class="reference internal" href="#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li><a class="reference internal" href="#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li><a class="reference internal" href="#id10">3. 点云数据详细说明</a><ul>
+<li><a class="reference internal" href="#id11">3.1. 点云格式</a></li>
+<li><a class="reference internal" href="#id12">3.2. 点云聚合功能</a><ul>
+<li><a class="reference internal" href="#id13">3.2.1. 功能特点：</a></li>
+<li><a class="reference internal" href="#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li><a class="reference internal" href="#imu">4. IMU数据</a><ul>
+<li><a class="reference internal" href="#id15">4.1. IMU话题</a></li>
+<li><a class="reference internal" href="#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</div>
+        </div>
+      </div>
+    </nav>
+
+    <section data-toggle="wy-nav-shift" class="wy-nav-content-wrap"><nav class="wy-nav-top" aria-label="移动版导航菜单" >
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+          <a href="../../index.html">OrbbecSDK V2 ROS2 封装</a>
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+      <li><a href="../../index.html" class="icon icon-home" aria-label="Home"></a></li>
+      <li class="breadcrumb-item active"><span class="section-number">1. </span>安装</li>
+      <li class="wy-breadcrumbs-aside">
+            <a href="../../_sources/source/lidar_devices/lidar.md.txt" rel="nofollow"> 查看页面源码</a>
+      </li>
+  </ul>
+  <hr/>
+</div>
+          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
+           <div itemprop="articleBody">
+             
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><p>本ROS2驱动支持您使用奥比中光单线/多线激光雷达。本文档提供安装说明、使用指南和其他重要信息，帮助您快速开始使用此驱动。</p>
+<section id="id1">
+<h1><span class="section-number">1. </span>安装<a class="headerlink" href="#id1" title="Link to this heading"></a></h1>
+<section id="id2">
+<h2><span class="section-number">1.1. </span>先决条件<a class="headerlink" href="#id2" title="Link to this heading"></a></h2>
+<p>在使用OrbbecSDK ROS2 LiDAR驱动程序之前，请确保您的系统上安装了以下依赖项：</p>
+<ul class="simple">
+<li><p><strong>ROS2</strong>：Humble、Jazzy 或其他受支持的发行版。</p>
+<ul>
+<li><p>如果您需要帮助，请参阅<a class="reference external" href="https://docs.ros.org/en/foxy/Installation.html">ROS2安装指南</a>。</p></li>
+</ul>
+</li>
+</ul>
+</section>
+<section id="deb">
+<h2><span class="section-number">1.2. </span>安装deb依赖项<a class="headerlink" href="#deb" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 假设您已经配置了ROS环境，下同</span>
+sudo<span class="w"> </span>apt<span class="w"> </span>install<span class="w"> </span>libgflags-dev<span class="w"> </span>nlohmann-json3-dev<span class="w">  </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-transport<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-image-transport-plugins<span class="w"> </span>ros-<span class="si">${</span><span class="nv">ROS_DISTRO</span><span class="si">}</span>-compressed-image-transport<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-image-publisher<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-camera-info-manager<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-updater<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-diagnostic-msgs<span class="w"> </span>ros-<span class="nv">$ROS_DISTRO</span>-statistics-msgs<span class="w"> </span><span class="se">\</span>
+ros-<span class="nv">$ROS_DISTRO</span>-backward-ros<span class="w"> </span>libdw-dev
+</pre></div>
+</div>
+</section>
+<section id="udev">
+<h2><span class="section-number">1.3. </span>安装udev规则<a class="headerlink" href="#udev" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w">  </span>~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts
+sudo<span class="w"> </span>bash<span class="w"> </span>install_udev_rules.sh
+sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w"> </span>--reload-rules<span class="w"> </span><span class="o">&amp;&amp;</span><span class="w"> </span>sudo<span class="w"> </span>udevadm<span class="w"> </span>trigger
+</pre></div>
+</div>
+</section>
+<section id="id3">
+<h2><span class="section-number">1.4. </span>构建包<a class="headerlink" href="#id3" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">cd</span><span class="w"> </span>~/ros2_ws/
+<span class="c1"># 构建发布版本，默认为调试版本</span>
+colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span class="w">  </span>console_direct+<span class="w">  </span>--cmake-args<span class="w">  </span>-DCMAKE_BUILD_TYPE<span class="o">=</span>Release
+</pre></div>
+</div>
+</section>
+<section id="id4">
+<h2><span class="section-number">1.5. </span>启动激光雷达节点<a class="headerlink" href="#id4" title="Link to this heading"></a></h2>
+<ul class="simple">
+<li><p>第一个终端</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py
+</pre></div>
+</div>
+<ul class="simple">
+<li><p>第二个终端</p></li>
+</ul>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>.<span class="w"> </span>./install/setup.bash
+rviz2
+</pre></div>
+</div>
+<ol class="simple">
+<li><p>打开Rviz2。</p></li>
+<li><p>添加 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>或 <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>显示。</p></li>
+<li><p>对于 <code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>，选择 <code class="docutils literal notranslate"><span class="pre">/lidar/cloud/points</span></code>话题；对于 <code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>，选择 <code class="docutils literal notranslate"><span class="pre">/lidar/scan/points</span></code>话题。</p></li>
+<li><p>将 <code class="docutils literal notranslate"><span class="pre">Fixed</span> <span class="pre">Frame</span></code>设置为 <code class="docutils literal notranslate"><span class="pre">lidar_lidar_frame</span></code>以正确对齐数据。</p></li>
+</ol>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code>可视化示例：</p></li>
+</ul>
+<p><img alt="rviz2中的模块" src="source/lidar_devices/docs/images/lidar0.jpg" /></p>
+<ul class="simple">
+<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code>可视化示例：</p></li>
+</ul>
+<p><img alt="rviz2中的模块" src="source/lidar_devices/docs/images/lidar1.png" /></p>
+</section>
+</section>
+<section id="id5">
+<h1><span class="section-number">2. </span>使用方法<a class="headerlink" href="#id5" title="Link to this heading"></a></h1>
+<section id="id6">
+<h2><span class="section-number">2.1. </span>运行驱动<a class="headerlink" href="#id6" title="Link to this heading"></a></h2>
+<p>要启动驱动，请启动提供的ROS2启动文件：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="nb">source</span><span class="w"> </span>install/setup.bash
+<span class="c1"># 启动带有点云数据的驱动</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT
+<span class="c1"># 启动带有球面点云数据的驱动</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT
+<span class="c1"># 启动带有激光扫描数据的驱动</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SCAN
+<span class="c1"># 启动启用IMU的驱动</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
+<span class="c1"># 启动同时包含点云和IMU数据的驱动</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>100hz
+</pre></div>
+</div>
+<p>此命令将启动与奥比中光激光雷达设备接口的节点。请确保在运行此命令之前正确连接激光雷达硬件。</p>
+</section>
+<section id="id7">
+<h2><span class="section-number">2.2. </span>获取已连接激光雷达的设备信息<a class="headerlink" href="#id7" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_devices_node
+</pre></div>
+</div>
+<p>此命令将列出已连接的激光雷达设备并显示其各自的IP地址和端口。您可以使用此信息配置驱动以连接到特定设备。</p>
+</section>
+<section id="id8">
+<h2><span class="section-number">2.3. </span>检查激光雷达支持的配置<a class="headerlink" href="#id8" title="Link to this heading"></a></h2>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
+</pre></div>
+</div>
+</section>
+<section id="id9">
+<h2><span class="section-number">2.4. </span>2.4 参数和配置<a class="headerlink" href="#id9" title="Link to this heading"></a></h2>
+<p><code class="docutils literal notranslate"><span class="pre">lidar.launch.py</span></code>文件包含驱动的默认参数。您可以通过修改启动文件或创建自定义配置文件来自定义这些设置。关键参数包括：</p>
+<ul class="simple">
+<li><p><strong>device_type</strong>: 要启动的设备类型。可选值：<code class="docutils literal notranslate"><span class="pre">lidar</span></code>、<code class="docutils literal notranslate"><span class="pre">camera</span></code>。将此参数设置为 <code class="docutils literal notranslate"><span class="pre">lidar</span></code>启动激光雷达设备，设置为 <code class="docutils literal notranslate"><span class="pre">camera</span></code>启动摄像头设备。</p></li>
+<li><p><strong>camera_name</strong>: 启动节点命名空间。</p></li>
+<li><p><strong>device_num</strong>: 设备数量。如果需要启动多个设备，则必须填写此项。</p></li>
+<li><p><strong>upgrade_firmware</strong>: 固件升级功能。输入参数是固件路径。</p></li>
+<li><p><strong>connection_delay</strong>: 重新打开设备的延迟时间（毫秒）。在热插拔期间立即重新打开设备可能导致固件崩溃。</p></li>
+<li><p><strong>publish_tf</strong>: 启用TF发布。</p></li>
+<li><p><strong>tf_publish_rate</strong>: TF发布频率。</p></li>
+<li><p><strong>lidar_format</strong>: 激光雷达的数据格式。可选值：<code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code>、<code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code>、<code class="docutils literal notranslate"><span class="pre">LIDAR_SCAN</span></code></p></li>
+<li><p><strong>lidar_rate</strong>: 激光雷达的扫描频率。</p></li>
+<li><p><strong>publish_n_pkts</strong>: 多帧数据合并发布的帧数量。范围：1-12000。仅在激光雷达格式为 <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> 或 <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code> 时生效，用于累积指定数量的帧后再发布合并的点云数据。默认值：<code class="docutils literal notranslate"><span class="pre">1</span></code></p></li>
+<li><p><strong>enable_scan_to_point</strong>: 启用扫描数据到点云数据的转换，发布PointCloud2数据类型话题。</p></li>
+<li><p><strong>repetitive_scan_mode</strong>: 重复扫描模式参数。</p></li>
+<li><p><strong>filter_level</strong>: 添加过滤级别参数。</p></li>
+<li><p><strong>vertical_fov</strong>: 垂直角度参数。</p></li>
+<li><p><strong>min_angle</strong>: 激光雷达扫描范围的最小角度（度）（例如，<code class="docutils literal notranslate"><span class="pre">-135.0</span></code>）。默认值：<code class="docutils literal notranslate"><span class="pre">-135.0</span></code></p></li>
+<li><p><strong>max_angle</strong>: 激光雷达扫描范围的最大角度（度）（例如，<code class="docutils literal notranslate"><span class="pre">135.0</span></code>）。默认值：<code class="docutils literal notranslate"><span class="pre">135.0</span></code></p></li>
+<li><p><strong>min_range</strong>: 激光雷达可测量的最小距离（米）。默认值：<code class="docutils literal notranslate"><span class="pre">0.05</span></code></p></li>
+<li><p><strong>max_range</strong>: 激光雷达可测量的最大距离（米）。默认值：<code class="docutils literal notranslate"><span class="pre">30.0</span></code></p></li>
+<li><p><strong>echo_mode</strong>: 激光雷达的回波模式。可选值：<code class="docutils literal notranslate"><span class="pre">Last</span> <span class="pre">Echo</span></code>、<code class="docutils literal notranslate"><span class="pre">First</span> <span class="pre">Echo</span></code></p></li>
+<li><p><strong>point_cloud_qos</strong>: ROS 2消息服务质量（QoS）设置。可能的值包括 <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>、<code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>、<code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>，不区分大小写。这些值分别对应 <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>、<code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>和 <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>。</p></li>
+<li><p><strong>enumerate_net_device</strong>: 启用网络设备的自动枚举。</p></li>
+<li><p><strong>net_device_ip</strong>: 网络设备的IP地址。</p></li>
+<li><p><strong>net_device_port</strong>: 网络端的端口号。</p></li>
+<li><p><strong>log_level</strong>: SDK日志级别，默认值为 <code class="docutils literal notranslate"><span class="pre">none</span></code>，可选值为 <code class="docutils literal notranslate"><span class="pre">debug</span></code>、<code class="docutils literal notranslate"><span class="pre">info</span></code>、<code class="docutils literal notranslate"><span class="pre">warn</span></code>、<code class="docutils literal notranslate"><span class="pre">error</span></code>、<code class="docutils literal notranslate"><span class="pre">fatal</span></code></p></li>
+<li><p><strong>time_domain</strong>: 设备的时间戳类型。可选值为 <code class="docutils literal notranslate"><span class="pre">device</span></code>、<code class="docutils literal notranslate"><span class="pre">global</span></code>、<code class="docutils literal notranslate"><span class="pre">system</span></code></p></li>
+<li><p><strong>config_file_path</strong>: YAML配置文件的路径。默认值为&quot;&quot;。如果未指定配置文件，将使用启动文件中的默认参数。</p></li>
+<li><p><strong>enable_heartbeat</strong>: 启用心跳功能，默认为 <code class="docutils literal notranslate"><span class="pre">false</span></code>。如果设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code>，相机节点将向固件发送心跳信号；如果需要硬件日志记录，也应将其设置为 <code class="docutils literal notranslate"><span class="pre">true</span></code>。</p></li>
+<li><p><strong>enable_imu</strong>: 启用IMU（加速度计+陀螺仪）并输出统一的IMU话题数据。</p></li>
+<li><p><strong>imu_rate</strong>: IMU的统一频率（加速度计和陀螺仪）。</p></li>
+<li><p><strong>accel_range</strong>: 加速度计的量程。</p></li>
+<li><p><strong>gyro_range</strong>: 陀螺仪的量程。</p></li>
+<li><p><strong>linear_accel_cov</strong>: 线性加速度协方差值，默认为 <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>。</p></li>
+<li><p><strong>angular_vel_cov</strong>: 角速度协方差值，默认为 <code class="docutils literal notranslate"><span class="pre">0.0001</span></code>。</p></li>
+</ul>
+</section>
+</section>
+<section id="id10">
+<h1><span class="section-number">3. </span>点云数据详细说明<a class="headerlink" href="#id10" title="Link to this heading"></a></h1>
+<section id="id11">
+<h2><span class="section-number">3.1. </span>点云格式<a class="headerlink" href="#id11" title="Link to this heading"></a></h2>
+<p>PointCloud2 (PointXYZITO) 点云格式如下：</p>
+<div class="highlight-default notranslate"><div class="highlight"><pre><span></span><span class="n">float32</span> <span class="n">x</span>               <span class="c1"># X轴，单位：米</span>
+<span class="n">float32</span> <span class="n">y</span>               <span class="c1"># Y轴，单位：米</span>
+<span class="n">float32</span> <span class="n">z</span>               <span class="c1"># Z轴，单位：米</span>
+<span class="n">uint8</span>   <span class="n">intensity</span>       <span class="c1"># 激光雷达强度</span>
+<span class="n">uint8</span>   <span class="n">tag</span>             <span class="c1"># 激光雷达标签</span>
+<span class="n">uint32</span>  <span class="n">offset_time</span>     <span class="c1"># 点云相对话题时间的偏移量，单位纳秒</span>
+</pre></div>
+</div>
+</section>
+<section id="id12">
+<h2><span class="section-number">3.2. </span>点云聚合功能<a class="headerlink" href="#id12" title="Link to this heading"></a></h2>
+<p>通过 <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> 参数可以开启点云聚合功能，该功能允许激光雷达在发布数据前累积指定数量的帧，然后将这些帧合并为一个更大的点云数据包进行发布。</p>
+<section id="id13">
+<h3><span class="section-number">3.2.1. </span>功能特点：<a class="headerlink" href="#id13" title="Link to this heading"></a></h3>
+<ul class="simple">
+<li><p><strong>参数范围</strong>: 1-12000 帧</p></li>
+<li><p><strong>适用格式</strong>: 仅在激光雷达格式为 <code class="docutils literal notranslate"><span class="pre">LIDAR_POINT</span></code> 或 <code class="docutils literal notranslate"><span class="pre">LIDAR_SPHERE_POINT</span></code> 时有效</p></li>
+<li><p><strong>默认值</strong>: 1（即不聚合，每帧单独发布）</p></li>
+<li><p><strong>用途</strong>: 提高点云密度，适用于需要更密集点云数据的应用场景</p></li>
+</ul>
+</section>
+<section id="id14">
+<h3><span class="section-number">3.2.2. </span>使用示例：<a class="headerlink" href="#id14" title="Link to this heading"></a></h3>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 聚合10帧数据后发布</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">10</span>
+
+<span class="c1"># 聚合100帧数据后发布</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>lidar_format:<span class="o">=</span>LIDAR_SPHERE_POINT<span class="w"> </span>publish_n_pkts:<span class="o">=</span><span class="m">100</span>
+</pre></div>
+</div>
+<p><strong>注意</strong>: 增加 <code class="docutils literal notranslate"><span class="pre">publish_n_pkts</span></code> 值会提高点云密度，但同时会增加延迟和内存使用量，请根据实际应用需求进行调整。</p>
+</section>
+</section>
+</section>
+<section id="imu">
+<h1><span class="section-number">4. </span>IMU数据<a class="headerlink" href="#imu" title="Link to this heading"></a></h1>
+<section id="id15">
+<h2><span class="section-number">4.1. </span>IMU话题<a class="headerlink" href="#id15" title="Link to this heading"></a></h2>
+<p>启用IMU时，将发布以下话题：</p>
+<ul class="simple">
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/imu/sample</span></code></strong>: 统一的IMU话题，包含 <code class="docutils literal notranslate"><span class="pre">sensor_msgs/Imu</span></code>格式的同步加速度计和陀螺仪数据。</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">/lidar/lidar_to_imu</span></code></strong>: 从激光雷达坐标系到IMU坐标系的变换。</p></li>
+</ul>
+</section>
+<section id="id16">
+<h2><span class="section-number">4.2. </span>使用IMU数据<a class="headerlink" href="#id16" title="Link to this heading"></a></h2>
+<p>要启用IMU数据采集：</p>
+<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="c1"># 启动并启用IMU</span>
+ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>lidar.launch.py<span class="w"> </span>enable_imu:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>imu_rate:<span class="o">=</span>50hz
+
+<span class="c1"># 检查IMU话题</span>
+ros2<span class="w"> </span>topic<span class="w"> </span>list<span class="w"> </span><span class="p">|</span><span class="w"> </span>grep<span class="w"> </span>imu
+
+<span class="c1"># 查看IMU数据</span>
+ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</span><span class="w"> </span>/lidar/imu/sample
+</pre></div>
+</div>
+<p>IMU数据包括：</p>
+<ul class="simple">
+<li><p><strong>linear_acceleration</strong>: 3D加速度数据（x、y、z），单位：m/s²</p></li>
+<li><p><strong>angular_velocity</strong>: 3D角速度数据（x、y、z），单位：rad/s</p></li>
+<li><p><strong>orientation</strong>: 四元数方向（硬件不提供，设置为零）</p></li>
+</ul>
+</section>
+</section>
+
+
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