diff --git a/en/.doctrees/environment.pickle b/en/.doctrees/environment.pickle index 398c21f1..22f25900 100644 Binary files a/en/.doctrees/environment.pickle and b/en/.doctrees/environment.pickle differ diff --git a/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree index 517366ba..b6aafe0b 100644 Binary files a/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree and b/en/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree differ diff --git a/en/_images/image-1.png b/en/_images/image-1.png new file mode 100644 index 00000000..34badb92 Binary files /dev/null and b/en/_images/image-1.png differ diff --git a/en/_images/image-2.png b/en/_images/image-2.png new file mode 100644 index 00000000..9e4f8820 Binary files /dev/null and b/en/_images/image-2.png differ diff --git a/en/_images/image.png b/en/_images/image.png new file mode 100644 index 00000000..ea9b85ee Binary files /dev/null and b/en/_images/image.png differ diff --git a/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt index d79b7134..4c757519 100644 --- a/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt +++ b/en/_sources/source/camera_devices/8_FAQ/FAQ.md.txt @@ -29,7 +29,7 @@ If the camera node crashes unexpectedly, it will generate a crash log in the cur **1. SDK debug logs** -Set the launch parameter `log_level` to `debug`. After running, the SDK will generate log files in the `Log/` folder under the current project directory. If you want a more recognizable file name for this test, you can set the parameter `log_file_name`. +Set the launch parameter `log_level` to `debug`. After running, the SDK will generate log files in the `Log/` folder under the current working directory. If you want a more recognizable file name for this test, you can set the parameter `log_file_name`. - SDK logs are appended to the same file: multiple launches will continue writing into the same log file. - Recommendation: before packaging logs to send to technical support, delete old log files, then reproduce the issue and collect new logs. This keeps the logs cleaner and makes troubleshooting more accurate. @@ -41,6 +41,20 @@ In the launch file, set the node (or composable node container) parameter `outpu - After setting `output="log"`, ROS 2 logs will be stored in the `~/.ros/log/` directory. - When submitting an issue, please package both the SDK logs under the `Log/` directory and the corresponding ROS 2 logs under `~/.ros/log/` for the same time period. +**3. Example Tutorial** + +Run in the terminal +``` +ros2 launch orbbec_camera gemini_330_series.launch.py log_level:=debug +``` +![alt text](../../../../zh/source/camera_devices/image/image-2.png) + +You can find the SDK logs in the Log folder within the current working directory. +![alt text](../../../../zh/source/camera_devices/image/image-1.png) + +ros2 log is enabled by default and can be viewed under `~/.ros/log/` +![alt text](../../../../zh/source/camera_devices/image/image.png) + ### Why Are There So Many Launch Files? - Different cameras have varying default resolutions and image formats. diff --git a/en/genindex.html b/en/genindex.html index 3be0324a..602ec6df 100644 --- a/en/genindex.html +++ b/en/genindex.html @@ -423,7 +423,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/index.html b/en/index.html index 54e0c827..2aad1582 100644 --- a/en/index.html +++ b/en/index.html @@ -516,7 +516,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/search.html b/en/search.html index 764bddf2..ca5dc06d 100644 --- a/en/search.html +++ b/en/search.html @@ -431,7 +431,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

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V2 ROS2 Wrapper documentation","Introduction","Orbbec SDK Overview","Overview","Environment configuration","Installation","Registration Script (Required)","OrbbecViewer QuickStarts","ROS Package QuickStarts","Quickstarts","Application Guide","Compressed Image","Coordinate Systems and TF Transforms","Launch parameters","Enabling and Visualizing Point Cloud in ROS 2","Available services","Available Topics","Advanced Guide","Aligning Depth to Color","Configuration of depth NFOV and WFOV modes","Depth work mode switch","Disparity_search_offset","Using interleave_ae with Gemini330 series cameras","Net_camera","Device default","GMSL_camera","Multi-Camera","Multi_camera synced Instructions","Multi-Camera Synchronization Verification Node","Efficient intra-process communication:","Fast DDS Optimization for Orbbec Camera with ROS2","Reducing CPU Usage with Orbbec ROS Package","Benchmark","Benchmark Data","Benchmark Usage","Introduction","Other Tools","Building a Debian Package","Developer 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Devices","Installation"],"titleterms":{"2l":24,"330l":24,"335l":24,"335le":23,"336l":24,"435le":23,"A":12,"All":15,"Are":40,"Between":39,"Further":31,"How":40,"Is":40,"It":40,"No":[26,40],"Other":36,"So":40,"The":40,"There":40,"When":40,"Which":44,"accuraci":24,"add":40,"adjust":30,"advanc":[13,17],"advantag":39,"ae":13,"aggreg":44,"align":18,"amr":24,"applic":[8,10],"architectur":2,"ask":40,"avail":[8,15,16],"b":12,"backend":13,"basic":13,"benchmark":[32,33,34,35],"benckmark":33,"binari":[4,6],"bolt":40,"branch":39,"breakdown":12,"buffer":28,"build":[4,6,8,37,44],"c":34,"calcandpublishstatictransform":12,"calcul":12,"calibr":13,"call":8,"camera":[1,7,8,12,13,17,22,25,26,27,28,30,36,40,41],"captur":15,"check":[27,44],"close":24,"cloud":[14,15,16,44],"collect":40,"color":[13,14,15,18],"command":[14,18,27],"common":[33,34,35],"communic":29,"communiti":39,"comparison":39,"comprehens":39,"compress":11,"concept":2,"configur":[4,13,15,17,19,27,28,30,34,36,37,44],"connect":[7,40,44],"control":[7,13,15],"coordin":12,"core":[12,13],"cpu":31,"crash":40,"data":[15,26,33,36,40,44],"datasheet":1,"dds":[28,30],"deb":44,"debian":37,"decim":15,"default":24,"delay":40,"depend":[37,44],"depth":[13,14,15,18,19,20,40],"detail":44,"develop":38,"devic":[7,13,15,16,24,39,41,43,44],"diagnost":[13,16],"differ":39,"dispar":13,"disparity_search_offset":21,"document":0,"doe":40,"download":7,"driver":44,"echo":8,"ecosystem":39,"effici":29,"emitt":15,"enabl":14,"environ":[4,31,37],"exampl":[18,29,34,44],"extend":24,"extens":39,"extrins":13,"fast":[28,30],"featur":[8,13,44],"femto":[23,40],"file":[28,31,36,39,40],"filter":[13,15],"firmwar":[7,13],"first":8,"follow":[27,28],"forc":23,"format":44,"frame":[26,40],"frequent":40,"function":[12,21,23,44],"g336x":24,"g33x":24,"gemini":[23,24],"gemini330":22,"general":13,"get":44,"gmsl":25,"gmsl_camera":25,"guid":[10,17,28,38],"hardwar":1,"high":24,"imag":[11,16,18,26,40],"imu":[13,16,44],"increas":28,"inform":[7,15,44],"instal":[4,5,6,44],"instruct":27,"interleav":13,"interleave_a":22,"intra":[13,29],"introduct":[1,8,21,22,29,35,39],"ip":23,"ir":[13,15],"issu":40,"json":36,"laser":13,"launch":[8,13,21,22,28,31,36,39,40,44],"ldp":13,"licens":42,"lidar":[43,44],"limit":25,"linux":4,"list":8,"log":[13,40],"low":26,"lower":31,"main":39,"mainten":39,"manag":15,"mani":40,"mechan":12,"mega":23,"memori":28,"migrat":39,"miscellan":13,"mode":[13,17,19,20,40],"model":2,"modifi":28,"multi":[13,17,25,26,27,28],"multi_camera":27,"multi_camera_sync":[22,28],"multipl":[26,40],"necessari":40,"net_camera":23,"network":13,"nfov":19,"node":[8,28,34,35,44],"ob_benchmark":36,"obcameranod":12,"open":39,"optic":12,"optim":[17,30],"optimizationa":31,"orbbec":[1,2,30,31],"orbbecsdk":0,"orbbecsdk_ros2":27,"orbbecview":7,"output":36,"overlay":18,"overview":[2,3],"packag":[4,8,31,37,44],"paramet":[8,13,21,22,30,39,44],"perform":17,"platform":1,"point":[14,15,16,44],"port":27,"prepar":37,"prerequisit":44,"preset":[24,40],"process":29,"product":1,"program":2,"publish":12,"py":28,"python":34,"question":40,"quickstart":[7,8,9],"rang":24,"rate":[26,40],"reach":40,"recommend":31,"record":8,"reduc":31,"refer":28,"registr":6,"relat":40,"requir":[6,28],"result":31,"robot":12,"ros":[8,14,31,37],"ros2":[0,12,30,34],"rosbag2":8,"rule":44,"run":[21,22,27,36,44],"rviz2":[8,12,14,18],"sampl":8,"save":40,"script":6,"sdk":2,"select":18,"sensor":[12,13,15],"seri":22,"servic":[8,15,33,34,35,39],"set":31,"set_device_ip":23,"setup":[27,31],"singl":25,"soft":40,"sourc":[4,6,8,39],"specif":[13,15,40],"start":[27,40],"start_benchmark_param":36,"status":16,"step":8,"stream":[13,15,16,26,40],"structur":12,"support":[1,39,44],"switch":[20,40],"sync":[13,25,27],"synchron":[13,15,28],"system":[12,28,30],"term":2,"test":31,"tf":[12,13],"time":13,"tool":[12,36],"topic":[8,16,18,26,39,44],"transform":12,"transpar":39,"tree":12,"trigger":[15,40],"udev":44,"unexpect":40,"updat":39,"upgrad":7,"usag":[25,28,31,34,44],"usb":28,"use":[12,22,31,34,44],"util":23,"v2":[0,2,39],"verif":28,"view":[12,18],"visual":[8,12,14],"vs":12,"wfov":19,"whi":40,"work":20,"workspac":8,"wrapper":0,"yaml":34}}) \ No newline at end of file diff --git a/en/source/camera_devices/1_overview/introduction.html b/en/source/camera_devices/1_overview/introduction.html index 1bd258d6..705fcfa6 100644 --- a/en/source/camera_devices/1_overview/introduction.html +++ b/en/source/camera_devices/1_overview/introduction.html @@ -801,7 +801,7 @@ thead th {

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/1_overview/orbbecsdk_overview.html b/en/source/camera_devices/1_overview/orbbecsdk_overview.html index 23c8aef5..e72d9a30 100644 --- a/en/source/camera_devices/1_overview/orbbecsdk_overview.html +++ b/en/source/camera_devices/1_overview/orbbecsdk_overview.html @@ -608,7 +608,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/1_overview/overview.html b/en/source/camera_devices/1_overview/overview.html index 61da6c5f..5486bbad 100644 --- a/en/source/camera_devices/1_overview/overview.html +++ b/en/source/camera_devices/1_overview/overview.html @@ -446,7 +446,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/2_installation/build_the_package.html b/en/source/camera_devices/2_installation/build_the_package.html index 1409845b..fe5c968a 100644 --- a/en/source/camera_devices/2_installation/build_the_package.html +++ b/en/source/camera_devices/2_installation/build_the_package.html @@ -479,7 +479,7 @@ colcon build --event-handlers

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/2_installation/installation.html b/en/source/camera_devices/2_installation/installation.html index 85a68d4b..d8fe3661 100644 --- a/en/source/camera_devices/2_installation/installation.html +++ b/en/source/camera_devices/2_installation/installation.html @@ -441,7 +441,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/2_installation/registration_script.html b/en/source/camera_devices/2_installation/registration_script.html index c0f82bd8..c063a9f9 100644 --- a/en/source/camera_devices/2_installation/registration_script.html +++ b/en/source/camera_devices/2_installation/registration_script.html @@ -447,7 +447,7 @@ sudo udevadm control

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/3_quickstarts/orbbecviewer.html b/en/source/camera_devices/3_quickstarts/orbbecviewer.html index 16f83670..42fa9089 100644 --- a/en/source/camera_devices/3_quickstarts/orbbecviewer.html +++ b/en/source/camera_devices/3_quickstarts/orbbecviewer.html @@ -510,7 +510,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/3_quickstarts/quickstart.html b/en/source/camera_devices/3_quickstarts/quickstart.html index 5b0f298a..fe8a9d94 100644 --- a/en/source/camera_devices/3_quickstarts/quickstart.html +++ b/en/source/camera_devices/3_quickstarts/quickstart.html @@ -518,7 +518,7 @@ ros2 param list

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/3_quickstarts/quickstarts.html b/en/source/camera_devices/3_quickstarts/quickstarts.html index 9c5f537e..a06bed46 100644 --- a/en/source/camera_devices/3_quickstarts/quickstarts.html +++ b/en/source/camera_devices/3_quickstarts/quickstarts.html @@ -446,7 +446,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/application_guide.html b/en/source/camera_devices/4_application_guide/application_guide.html index be0ce191..716ebf1b 100644 --- a/en/source/camera_devices/4_application_guide/application_guide.html +++ b/en/source/camera_devices/4_application_guide/application_guide.html @@ -473,7 +473,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/compressed_image.html b/en/source/camera_devices/4_application_guide/compressed_image.html index f7ad0eae..06193ee2 100644 --- a/en/source/camera_devices/4_application_guide/compressed_image.html +++ b/en/source/camera_devices/4_application_guide/compressed_image.html @@ -435,7 +435,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html index 04827a13..330fd708 100644 --- a/en/source/camera_devices/4_application_guide/coordinate_and_tf.html +++ b/en/source/camera_devices/4_application_guide/coordinate_and_tf.html @@ -762,7 +762,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/launch_parameters.html b/en/source/camera_devices/4_application_guide/launch_parameters.html index c46565cd..33589db1 100644 --- a/en/source/camera_devices/4_application_guide/launch_parameters.html +++ b/en/source/camera_devices/4_application_guide/launch_parameters.html @@ -1124,7 +1124,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/point_cloud.html b/en/source/camera_devices/4_application_guide/point_cloud.html index 0eef0a5a..2c1602d6 100644 --- a/en/source/camera_devices/4_application_guide/point_cloud.html +++ b/en/source/camera_devices/4_application_guide/point_cloud.html @@ -480,7 +480,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/services.html b/en/source/camera_devices/4_application_guide/services.html index 5cd95b6a..7e4ef1d7 100644 --- a/en/source/camera_devices/4_application_guide/services.html +++ b/en/source/camera_devices/4_application_guide/services.html @@ -781,7 +781,7 @@ ros2 service call

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/4_application_guide/topics.html b/en/source/camera_devices/4_application_guide/topics.html index 2dc9761d..701d84f6 100644 --- a/en/source/camera_devices/4_application_guide/topics.html +++ b/en/source/camera_devices/4_application_guide/topics.html @@ -545,7 +545,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/advanced_guide.html b/en/source/camera_devices/5_advanced_guide/advanced_guide.html index 35807f28..88c079a4 100644 --- a/en/source/camera_devices/5_advanced_guide/advanced_guide.html +++ b/en/source/camera_devices/5_advanced_guide/advanced_guide.html @@ -528,7 +528,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html index 0af9103c..6f26d010 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html @@ -464,7 +464,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/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 index aa8500fb..46fce3f0 100644 --- a/en/source/camera_devices/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 @@ -441,7 +441,7 @@ resolutions is as follows:

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html index 164d8da4..81078cdd 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html @@ -458,7 +458,7 @@ modify it, you can switch to the corresponding mode as needed.

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html index 10c8f3ed..c6fb766c 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html @@ -520,7 +520,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html index 2014ef93..2a4cf494 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html @@ -484,7 +484,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html index 8637f8bd..073a9170 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/net_camera.html @@ -523,7 +523,7 @@ net_device_port:=8090

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html index 2d7dffff..885be4f1 100644 --- a/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html +++ b/en/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html @@ -628,7 +628,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html index 18543ff0..7cae1229 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html @@ -491,7 +491,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html index 7605684c..5cf38296 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html @@ -519,7 +519,7 @@ by running the following command:

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html index 1ccaf027..14366c69 100644 --- a/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html +++ b/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html @@ -507,7 +507,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/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 index 4174c8f4..57416eed 100644 --- a/en/source/camera_devices/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 @@ -591,7 +591,7 @@ See

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html index 1539d4fd..75310491 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html +++ b/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html @@ -461,7 +461,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html index 879fec91..5aa268cb 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html +++ b/en/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html @@ -566,7 +566,7 @@ reliability of the Orbbec camera system in a ROS2 environment.

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html index 95484f7e..f7c01006 100644 --- a/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html +++ b/en/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html @@ -619,7 +619,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/6_benchmark/benchmark.html b/en/source/camera_devices/6_benchmark/benchmark.html index 97b89fd5..e170ad58 100644 --- a/en/source/camera_devices/6_benchmark/benchmark.html +++ b/en/source/camera_devices/6_benchmark/benchmark.html @@ -452,7 +452,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/6_benchmark/benchmark_data.html b/en/source/camera_devices/6_benchmark/benchmark_data.html index 271c1029..8300cbda 100644 --- a/en/source/camera_devices/6_benchmark/benchmark_data.html +++ b/en/source/camera_devices/6_benchmark/benchmark_data.html @@ -445,7 +445,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/6_benchmark/benchmark_usage.html b/en/source/camera_devices/6_benchmark/benchmark_usage.html index 2ddc9de8..694bde25 100644 --- a/en/source/camera_devices/6_benchmark/benchmark_usage.html +++ b/en/source/camera_devices/6_benchmark/benchmark_usage.html @@ -548,7 +548,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/6_benchmark/introduction.html b/en/source/camera_devices/6_benchmark/introduction.html index 0db1830e..69f15dc9 100644 --- a/en/source/camera_devices/6_benchmark/introduction.html +++ b/en/source/camera_devices/6_benchmark/introduction.html @@ -459,7 +459,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/6_benchmark/othertools.html b/en/source/camera_devices/6_benchmark/othertools.html index 52d6a9e3..4f93c7d6 100644 --- a/en/source/camera_devices/6_benchmark/othertools.html +++ b/en/source/camera_devices/6_benchmark/othertools.html @@ -482,7 +482,7 @@ ros2 run orbbec_camera

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html index d6a1de68..4f44b402 100644 --- a/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html +++ b/en/source/camera_devices/7_developer_guide/building_a_Debian_Package.html @@ -466,7 +466,7 @@ bash .make_deb.sh

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diff --git a/en/source/camera_devices/7_developer_guide/developer_guide.html b/en/source/camera_devices/7_developer_guide/developer_guide.html index df891453..fdd0fb32 100644 --- a/en/source/camera_devices/7_developer_guide/developer_guide.html +++ b/en/source/camera_devices/7_developer_guide/developer_guide.html @@ -445,7 +445,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/7_developer_guide/migration_guide.html b/en/source/camera_devices/7_developer_guide/migration_guide.html index afe1e719..becad290 100644 --- a/en/source/camera_devices/7_developer_guide/migration_guide.html +++ b/en/source/camera_devices/7_developer_guide/migration_guide.html @@ -1261,7 +1261,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/camera_devices/8_FAQ/FAQ.html b/en/source/camera_devices/8_FAQ/FAQ.html index e3798388..9403e554 100644 --- a/en/source/camera_devices/8_FAQ/FAQ.html +++ b/en/source/camera_devices/8_FAQ/FAQ.html @@ -443,7 +443,7 @@

8.3. How to Collect and Save Logs

1. SDK debug logs

-

Set the launch parameter log_level to debug. After running, the SDK will generate log files in the Log/ folder under the current project directory. If you want a more recognizable file name for this test, you can set the parameter log_file_name.

+

Set the launch parameter log_level to debug. After running, the SDK will generate log files in the Log/ folder under the current working directory. If you want a more recognizable file name for this test, you can set the parameter log_file_name.

  • SDK logs are appended to the same file: multiple launches will continue writing into the same log file.

  • Recommendation: before packaging logs to send to technical support, delete old log files, then reproduce the issue and collect new logs. This keeps the logs cleaner and makes troubleshooting more accurate.

    • @@ -454,6 +454,16 @@

  • After setting output="log", ROS 2 logs will be stored in the ~/.ros/log/ directory.

  • When submitting an issue, please package both the SDK logs under the Log/ directory and the corresponding ROS 2 logs under ~/.ros/log/ for the same time period.

+

3. Example Tutorial

+

Run in the terminal

+
ros2 launch orbbec_camera gemini_330_series.launch.py log_level:=debug
+
+
+

alt text

+

You can find the SDK logs in the Log folder within the current working directory. +alt text

+

ros2 log is enabled by default and can be viewed under ~/.ros/log/ +alt text

8.4. Why Are There So Many Launch Files?

@@ -549,7 +559,7 @@ When setting softwa

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diff --git a/en/source/camera_devices/index.html b/en/source/camera_devices/index.html index c31e2e81..d068f3c9 100644 --- a/en/source/camera_devices/index.html +++ b/en/source/camera_devices/index.html @@ -592,7 +592,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/license.html b/en/source/license.html index 393e4705..fa41f7e5 100644 --- a/en/source/license.html +++ b/en/source/license.html @@ -430,7 +430,7 @@ language governing permissions and limitations under the License.

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/lidar_devices/index.html b/en/source/lidar_devices/index.html index 15cb1537..2b412b08 100644 --- a/en/source/lidar_devices/index.html +++ b/en/source/lidar_devices/index.html @@ -435,7 +435,7 @@

© Copyright 2025, ORBBEC INC. www.orbbec.com.. - Last updated on 2026-02-05 06:50:08. + Last updated on 2026-02-05 09:12:31.

diff --git a/en/source/lidar_devices/lidar.html b/en/source/lidar_devices/lidar.html index c2644018..38edba12 100644 --- a/en/source/lidar_devices/lidar.html +++ b/en/source/lidar_devices/lidar.html @@ -639,7 +639,7 @@ ros2 topic echo

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diff --git a/zh/.doctrees/environment.pickle b/zh/.doctrees/environment.pickle index 89841001..e53e4965 100644 Binary files a/zh/.doctrees/environment.pickle and b/zh/.doctrees/environment.pickle differ diff --git a/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree b/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree index 4dbe9e07..49013d41 100644 Binary files a/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree and b/zh/.doctrees/source/camera_devices/8_FAQ/FAQ.doctree differ diff --git a/zh/_images/image-1.png b/zh/_images/image-1.png new file mode 100644 index 00000000..34badb92 Binary files /dev/null and b/zh/_images/image-1.png differ diff --git a/zh/_images/image-2.png b/zh/_images/image-2.png new file mode 100644 index 00000000..9e4f8820 Binary files /dev/null and b/zh/_images/image-2.png differ diff --git a/zh/_images/image.png b/zh/_images/image.png new file mode 100644 index 00000000..ea9b85ee Binary files /dev/null and b/zh/_images/image.png differ diff --git a/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt index 3c5b7542..e4f43344 100644 --- a/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt +++ b/zh/_sources/source/camera_devices/8_FAQ/FAQ.md.txt @@ -29,7 +29,7 @@ **1. SDK debug 日志** -将 launch 参数 `log_level` 设为 `debug` 运行后，会在当前工程目录下的 `Log/` 文件夹中生成 SDK 日志文件。如果需要为本次测试指定一个更易识别的日志文件名，可以修改参数 `log_file_name`。 +将 launch 参数 `log_level` 设为 `debug` 运行后，会在当前工作目录下的 `Log/` 文件夹中生成 SDK 日志文件。如果需要为本次测试指定一个更易识别的日志文件名，可以修改参数 `log_file_name`。 - SDK 日志是追加写入的：多次启动会在同一个文件里不断累积日志。 - 建议：在准备打包日志发给技术支持前，先删除旧的日志文件，然后重新复现问题并采集新的日志，这样日志更干净、定位更准确。 @@ -41,6 +41,20 @@ - 设置为 `output="log"` 后，ROS2 日志将保存在 `~/.ros/log/` 目录下。 - 如需提交问题，请同时打包 `Log/` 目录下的 SDK 日志和 `~/.ros/log/` 下对应时间的 ROS2 日志，一并提供。 +**3. 示例** + +在终端运行 +``` +ros2 launch orbbec_camera gemini_330_series.launch.py log_level:=debug +``` +![alt text](../image/image-2.png) + +即可在当前工作目录下的 Log 文件夹下查看 SDK 日志 +![alt text](../image/image-1.png) + +ros2 log 默认开启，可在 `~/.ros/log/` 下查看 +![alt text](../image/image.png) + ### 为什么有这么多启动文件？ - 不同的相机具有不同的默认分辨率和图像格式。 diff --git a/zh/genindex.html b/zh/genindex.html index f33abf33..243b7879 100644 --- a/zh/genindex.html +++ b/zh/genindex.html @@ -422,7 +422,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/index.html b/zh/index.html index 6c0451d0..588a12e5 100644 --- a/zh/index.html +++ b/zh/index.html @@ -515,7 +515,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/search.html b/zh/search.html index 97ea54c0..5affd3b7 100644 --- a/zh/search.html +++ b/zh/search.html @@ -430,7 +430,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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b/zh/source/camera_devices/1_overview/introduction.html index 08ca3b1b..12bb48b4 100644 --- a/zh/source/camera_devices/1_overview/introduction.html +++ b/zh/source/camera_devices/1_overview/introduction.html @@ -799,7 +799,7 @@ thead th {

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/1_overview/orbbecsdk_overview.html b/zh/source/camera_devices/1_overview/orbbecsdk_overview.html index 7263a59d..e240f8ee 100644 --- a/zh/source/camera_devices/1_overview/orbbecsdk_overview.html +++ b/zh/source/camera_devices/1_overview/orbbecsdk_overview.html @@ -607,7 +607,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/1_overview/overview.html b/zh/source/camera_devices/1_overview/overview.html index b0da628d..0a0b3ace 100644 --- a/zh/source/camera_devices/1_overview/overview.html +++ b/zh/source/camera_devices/1_overview/overview.html @@ -445,7 +445,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/2_installation/build_the_package.html b/zh/source/camera_devices/2_installation/build_the_package.html index 94bfbe75..5239e1a3 100644 --- a/zh/source/camera_devices/2_installation/build_the_package.html +++ b/zh/source/camera_devices/2_installation/build_the_package.html @@ -478,7 +478,7 @@ colcon build --event-handlers

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/2_installation/installation.html b/zh/source/camera_devices/2_installation/installation.html index 6c8aea7d..570f892b 100644 --- a/zh/source/camera_devices/2_installation/installation.html +++ b/zh/source/camera_devices/2_installation/installation.html @@ -440,7 +440,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/2_installation/registration_script.html b/zh/source/camera_devices/2_installation/registration_script.html index 1f829ece..c6c59d91 100644 --- a/zh/source/camera_devices/2_installation/registration_script.html +++ b/zh/source/camera_devices/2_installation/registration_script.html @@ -446,7 +446,7 @@ sudo udevadm control

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html index bd2138ec..4c8c5c1c 100644 --- a/zh/source/camera_devices/3_quickstarts/orbbecviewer.html +++ b/zh/source/camera_devices/3_quickstarts/orbbecviewer.html @@ -509,7 +509,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/3_quickstarts/quickstart.html b/zh/source/camera_devices/3_quickstarts/quickstart.html index 4a42c685..46de596e 100644 --- a/zh/source/camera_devices/3_quickstarts/quickstart.html +++ b/zh/source/camera_devices/3_quickstarts/quickstart.html @@ -517,7 +517,7 @@ ros2 param list

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/3_quickstarts/quickstarts.html b/zh/source/camera_devices/3_quickstarts/quickstarts.html index 4eb5e264..7592bd54 100644 --- a/zh/source/camera_devices/3_quickstarts/quickstarts.html +++ b/zh/source/camera_devices/3_quickstarts/quickstarts.html @@ -445,7 +445,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/application_guide.html b/zh/source/camera_devices/4_application_guide/application_guide.html index c2b4a6d5..ebe6276d 100644 --- a/zh/source/camera_devices/4_application_guide/application_guide.html +++ b/zh/source/camera_devices/4_application_guide/application_guide.html @@ -473,7 +473,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/compressed_image.html b/zh/source/camera_devices/4_application_guide/compressed_image.html index 153a16cd..71df16d6 100644 --- a/zh/source/camera_devices/4_application_guide/compressed_image.html +++ b/zh/source/camera_devices/4_application_guide/compressed_image.html @@ -434,7 +434,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html index 8cec7d8f..8e5a558b 100644 --- a/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html +++ b/zh/source/camera_devices/4_application_guide/coordinate_and_tf.html @@ -775,7 +775,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/launch_parameters.html b/zh/source/camera_devices/4_application_guide/launch_parameters.html index 9668eff9..58f04eab 100644 --- a/zh/source/camera_devices/4_application_guide/launch_parameters.html +++ b/zh/source/camera_devices/4_application_guide/launch_parameters.html @@ -1117,7 +1117,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/point_cloud.html b/zh/source/camera_devices/4_application_guide/point_cloud.html index f24f486f..0e02b1e0 100644 --- a/zh/source/camera_devices/4_application_guide/point_cloud.html +++ b/zh/source/camera_devices/4_application_guide/point_cloud.html @@ -479,7 +479,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/services.html b/zh/source/camera_devices/4_application_guide/services.html index 66a94548..a07cf018 100644 --- a/zh/source/camera_devices/4_application_guide/services.html +++ b/zh/source/camera_devices/4_application_guide/services.html @@ -780,7 +780,7 @@ ros2 service call

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/4_application_guide/topics.html b/zh/source/camera_devices/4_application_guide/topics.html index 0b1c0ce2..4bfe2efe 100644 --- a/zh/source/camera_devices/4_application_guide/topics.html +++ b/zh/source/camera_devices/4_application_guide/topics.html @@ -544,7 +544,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html index efb689e0..52072c40 100644 --- a/zh/source/camera_devices/5_advanced_guide/advanced_guide.html +++ b/zh/source/camera_devices/5_advanced_guide/advanced_guide.html @@ -527,7 +527,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index 5abc9d5a..646fac23 100644 --- 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 @@ -463,7 +463,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index 1e51b0f3..2637bc7c 100644 --- 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 @@ -437,7 +437,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index 70a3f9b8..a0d42fa0 100644 --- 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 @@ -455,7 +455,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index ff6ad8b4..4cad74f4 100644 --- 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 @@ -519,7 +519,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index cdab0123..58576cce 100644 --- 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 @@ -483,7 +483,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html index e22cd4ae..02e38376 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html @@ -519,7 +519,7 @@ net_device_port:=8090

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html index 2c71217b..ba9bf2a0 100644 --- a/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html +++ b/zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html @@ -627,7 +627,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index 22602243..2541c78b 100644 --- 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 @@ -489,7 +489,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index cc0d0705..350d4bf0 100644 --- 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 @@ -518,7 +518,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index e2a16ce7..08e2d70d 100644 --- 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 @@ -506,7 +506,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html index 6d549148..dc4d38c6 100644 --- a/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html +++ b/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html @@ -580,7 +580,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index b211c29e..e0ecda09 100644 --- 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 @@ -460,7 +460,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index cee9d0d9..63da62f1 100644 --- a/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html +++ b/zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html @@ -557,7 +557,7 @@ net.core.wmem_default=2147483647

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html b/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html index 36a92818..215c3945 100644 --- a/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html +++ b/zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html @@ -618,7 +618,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/6_benchmark/benchmark.html b/zh/source/camera_devices/6_benchmark/benchmark.html index 33a1965d..c6f1233f 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark.html +++ b/zh/source/camera_devices/6_benchmark/benchmark.html @@ -451,7 +451,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/6_benchmark/benchmark_data.html b/zh/source/camera_devices/6_benchmark/benchmark_data.html index 79a5ed73..cd0ad69a 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark_data.html +++ b/zh/source/camera_devices/6_benchmark/benchmark_data.html @@ -444,7 +444,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/6_benchmark/benchmark_usage.html b/zh/source/camera_devices/6_benchmark/benchmark_usage.html index 53a24376..3380e18c 100644 --- a/zh/source/camera_devices/6_benchmark/benchmark_usage.html +++ b/zh/source/camera_devices/6_benchmark/benchmark_usage.html @@ -547,7 +547,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/6_benchmark/introduction.html b/zh/source/camera_devices/6_benchmark/introduction.html index d826ebc5..d8c73572 100644 --- a/zh/source/camera_devices/6_benchmark/introduction.html +++ b/zh/source/camera_devices/6_benchmark/introduction.html @@ -458,7 +458,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/6_benchmark/othertools.html b/zh/source/camera_devices/6_benchmark/othertools.html index 02d9ba9e..32261397 100644 --- a/zh/source/camera_devices/6_benchmark/othertools.html +++ b/zh/source/camera_devices/6_benchmark/othertools.html @@ -481,7 +481,7 @@ ros2 run orbbec_camera

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

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 index bac13f95..ca3728f9 100644 --- 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 @@ -463,7 +463,7 @@ bash .make_deb.sh

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/7_developer_guide/developer_guide.html b/zh/source/camera_devices/7_developer_guide/developer_guide.html index 11a7d0b0..eda9784a 100644 --- a/zh/source/camera_devices/7_developer_guide/developer_guide.html +++ b/zh/source/camera_devices/7_developer_guide/developer_guide.html @@ -444,7 +444,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/7_developer_guide/migration_guide.html b/zh/source/camera_devices/7_developer_guide/migration_guide.html index 3bdad258..17c124d6 100644 --- a/zh/source/camera_devices/7_developer_guide/migration_guide.html +++ b/zh/source/camera_devices/7_developer_guide/migration_guide.html @@ -1260,7 +1260,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/8_FAQ/FAQ.html b/zh/source/camera_devices/8_FAQ/FAQ.html index 54b65332..48606236 100644 --- a/zh/source/camera_devices/8_FAQ/FAQ.html +++ b/zh/source/camera_devices/8_FAQ/FAQ.html @@ -442,7 +442,7 @@

8.3. 如何采集和保存日志

1. SDK debug 日志

-

将 launch 参数 log_level 设为 debug 运行后，会在当前工程目录下的 Log/ 文件夹中生成 SDK 日志文件。如果需要为本次测试指定一个更易识别的日志文件名，可以修改参数 log_file_name。

+

将 launch 参数 log_level 设为 debug 运行后，会在当前工作目录下的 Log/ 文件夹中生成 SDK 日志文件。如果需要为本次测试指定一个更易识别的日志文件名，可以修改参数 log_file_name。

  • SDK 日志是追加写入的：多次启动会在同一个文件里不断累积日志。

  • 建议：在准备打包日志发给技术支持前，先删除旧的日志文件，然后重新复现问题并采集新的日志，这样日志更干净、定位更准确。

    • @@ -453,6 +453,16 @@

  • 设置为 output="log" 后，ROS2 日志将保存在 ~/.ros/log/ 目录下。

  • 如需提交问题，请同时打包 Log/ 目录下的 SDK 日志和 ~/.ros/log/ 下对应时间的 ROS2 日志，一并提供。

+

3. 示例

+

在终端运行

+
ros2 launch orbbec_camera gemini_330_series.launch.py log_level:=debug
+
+
+

alt text

+

即可在当前工作目录下的 Log 文件夹下查看 SDK 日志 +alt text

+

ros2 log 默认开启，可在 ~/.ros/log/ 下查看 +alt text

8.4. 为什么有这么多启动文件？

@@ -548,7 +558,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/camera_devices/index.html b/zh/source/camera_devices/index.html index d43c1b1c..bdefa776 100644 --- a/zh/source/camera_devices/index.html +++ b/zh/source/camera_devices/index.html @@ -592,7 +592,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/license.html b/zh/source/license.html index 0e14af34..89b39d66 100644 --- a/zh/source/license.html +++ b/zh/source/license.html @@ -429,7 +429,7 @@ language governing permissions and limitations under the License.

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/lidar_devices/index.html b/zh/source/lidar_devices/index.html index 037600c8..027ed4ae 100644 --- a/zh/source/lidar_devices/index.html +++ b/zh/source/lidar_devices/index.html @@ -434,7 +434,7 @@

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.

diff --git a/zh/source/lidar_devices/lidar.html b/zh/source/lidar_devices/lidar.html index c86688c7..d3eb9aad 100644 --- a/zh/source/lidar_devices/lidar.html +++ b/zh/source/lidar_devices/lidar.html @@ -638,7 +638,7 @@ ros2 topic echo

© 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。 - 最后更新于 2026年02月05日 06:50:11. + 最后更新于 2026年02月05日 09:12:35.