From c978afb5cdf4d5795e78ff6c1b7397122fffb871 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:46:12 +0800
Subject: [PATCH 01/15] docs: document ROS2 depth colorizer modes

---
 .../camera_devices/4_application_guide/launch_parameters.md    | 3 +++
 docs/en/source/camera_devices/4_application_guide/topics.md    | 1 +
 .../camera_devices/4_application_guide/launch_parameters.md    | 3 +++
 docs/zh/source/camera_devices/4_application_guide/topics.md    | 1 +
 4 files changed, 8 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index dd6e02a3..6224a839 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -361,6 +361,9 @@ The following are the launch parameters available:
     *   This parameter is case-insensitive. Use one of the valid values listed above.
 *   **`enable_d2c_viewer`**
     *   Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples.
+*   **`depth_colorizer_mode`**
+    *   Colorizes the depth image published on `/camera/depth/image_raw`. Supported values are `none`, `jet`, `jet_inv`, and `gray`. `none` keeps the raw depth image, `gray` publishes `mono8`, and `jet` / `jet_inv` publish `rgb8`.
+    *   When a colorizer mode other than `none` is selected together with `enable_d2c_viewer:=true`, the node logs a warning and automatically disables `enable_d2c_viewer`, because the viewer requires a raw `16UC1` depth image.
 
 ## IMU
 
diff --git a/docs/en/source/camera_devices/4_application_guide/topics.md b/docs/en/source/camera_devices/4_application_guide/topics.md
index 5f450754..d5c6f26d 100644
--- a/docs/en/source/camera_devices/4_application_guide/topics.md
+++ b/docs/en/source/camera_devices/4_application_guide/topics.md
@@ -19,6 +19,7 @@ These topics provide the raw image data and corresponding calibration informatio
 
 *   `/camera/depth/image_raw`
     *   Raw image data from the depth stream.
+    *   When `depth_colorizer_mode` is `none`, the topic keeps the raw depth encoding. `gray` changes the published encoding to `mono8`; `jet` and `jet_inv` change it to `rgb8`.
 *   `/camera/depth/camera_info`
     *   Camera calibration data and metadata for the depth stream.
 *   `/camera/depth/metadata`
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index c60b8002..3490f554 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -359,6 +359,9 @@
     *   该参数大小写不敏感；请使用上述有效值。
 *   **`enable_d2c_viewer`**
     *   发布D2C叠加图像（仅用于测试）。使用示例参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。
+*   **`depth_colorizer_mode`**
+    *   对发布到 `/camera/depth/image_raw` 的深度图进行彩色化。支持 `none`、`jet`、`jet_inv` 和 `gray`。`none` 保持原始深度图，`gray` 发布 `mono8`，`jet` 和 `jet_inv` 发布 `rgb8`。
+    *   当选择非 `none` 模式且同时设置 `enable_d2c_viewer:=true` 时，节点会输出告警并自动关闭 `enable_d2c_viewer`，因为 D2C Viewer 要求输入原始 `16UC1` 深度图。
 
 ## IMU
 
diff --git a/docs/zh/source/camera_devices/4_application_guide/topics.md b/docs/zh/source/camera_devices/4_application_guide/topics.md
index 71b596b3..f27c5845 100644
--- a/docs/zh/source/camera_devices/4_application_guide/topics.md
+++ b/docs/zh/source/camera_devices/4_application_guide/topics.md
@@ -19,6 +19,7 @@
 
 *   `/camera/depth/image_raw`
     *   深度流的原始图像数据。
+    *   当 `depth_colorizer_mode` 为 `none` 时保持原始深度编码；`gray` 会将发布编码改为 `mono8`，`jet` 和 `jet_inv` 会改为 `rgb8`。
 *   `/camera/depth/camera_info`
     *   深度流的相机校准数据和元数据。
 *   `/camera/depth/metadata`

From 4bba4c17e4ad57e337b7a42893fbdcf35ed2e02a Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:46:30 +0800
Subject: [PATCH 02/15] docs: document ROS2 Gemini 330 AE AWB services

---
 .../4_application_guide/services.md           | 29 +++++++++++++++++++
 .../4_application_guide/services.md           | 29 +++++++++++++++++++
 2 files changed, 58 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md
index c1b97695..fe7fc76b 100644
--- a/docs/en/source/camera_devices/4_application_guide/services.md
+++ b/docs/en/source/camera_devices/4_application_guide/services.md
@@ -138,6 +138,35 @@
     ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
     ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
     ```
+
+#### Gemini 330 AE/AWB Debugging
+
+On Gemini 330 series devices with firmware `1.8.21` or later, the following services are advertised when the corresponding SDK properties are supported:
+
+*   `/camera/get_color_ae_awb_status`
+
+    Returns the device AE/AWB status value.
+
+    ```bash
+    ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+
+*   `/camera/get_color_awb_gain`
+
+    Returns the raw Q8.8 `r_gain`, `b_gain`, and `g_gain` values.
+
+    ```bash
+    ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
+    ```
+
+*   `/camera/set_color_awb_gain`
+
+    Sets raw Q8.8 RGB channel gains. Color auto white balance must be disabled before setting the gains.
+
+    ```bash
+    ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
+    ```
+
 *   `/camera/set_laser_enable`
     ```bash
     ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md
index 583938b2..223bb4e4 100644
--- a/docs/zh/source/camera_devices/4_application_guide/services.md
+++ b/docs/zh/source/camera_devices/4_application_guide/services.md
@@ -138,6 +138,35 @@
     ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
     ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
     ```
+
+#### Gemini 330 AE/AWB 调试
+
+Gemini 330 系列设备使用固件 `1.8.21` 及以上版本时，如果设备支持对应 SDK 属性，节点会提供以下服务：
+
+*   `/camera/get_color_ae_awb_status`
+
+    获取设备 AE/AWB 状态值。
+
+    ```bash
+    ros2 service call /camera/get_color_ae_awb_status orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+
+*   `/camera/get_color_awb_gain`
+
+    获取原始 Q8.8 格式的 `r_gain`、`b_gain` 和 `g_gain`。
+
+    ```bash
+    ros2 service call /camera/get_color_awb_gain orbbec_camera_msgs/srv/GetAwbGain '{}'
+    ```
+
+*   `/camera/set_color_awb_gain`
+
+    设置原始 Q8.8 格式的 RGB 通道增益。设置前必须关闭彩色自动白平衡。
+
+    ```bash
+    ros2 service call /camera/set_color_awb_gain orbbec_camera_msgs/srv/SetAwbGain "{r_gain: 512, b_gain: 512, g_gain: 512}"
+    ```
+
 *   `/camera/set_laser_enable`
     ```bash
     ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'

From 9c299e1284769e09644a17ad532e33bed064ba7f Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:46:46 +0800
Subject: [PATCH 03/15] docs: document ROS2 monitor polling interval

---
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 ++
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 6224a839..bd44fe20 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -346,6 +346,8 @@ The following are the launch parameters available:
   * Diagnostic period in seconds.
 * **`enable_heartbeat`**
   * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
+* **`monitor_poll_interval_sec`**
+  * Set the SDK polling interval for the device heartbeat and firmware log, in seconds. The default is `-1`, which leaves the SDK polling interval unchanged. Valid values are `1–10`; values outside this range are clamped to the nearest boundary. This parameter controls the polling interval and does not enable heartbeat or firmware-log capture by itself.
 
 ### Miscellaneous
 *   **`config_file_path`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index 3490f554..faaa1dc9 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -344,6 +344,8 @@
     *   诊断周期（秒）。
 *   **`enable_heartbeat`**
     *   启用心跳功能。默认为 `false`。如果为 `true`，相机节点将向固件发送心跳信号。
+* **`monitor_poll_interval_sec`**
+  *   设置 SDK 设备心跳和固件日志的轮询间隔，单位为秒。默认值为 `-1`，表示不修改 SDK 当前轮询间隔。有效范围为 `1–10`；超出范围的值会被限制到最近的边界。该参数只设置轮询间隔，不会自动启用心跳或固件日志抓取。
 
 ### 其他
 *   **`config_file_path`**

From cf8ef4771cfa83bbd79e25dfda21c06a30def1f5 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:48:00 +0800
Subject: [PATCH 04/15] docs: update ROS2 FPS Boost support

---
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index bd44fe20..99a789b9 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -280,7 +280,7 @@ The following are the launch parameters available:
   > **Supported Modules**: Gemini 330 series
 * **`enable_fps_boost`**
   * Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
-  > **Supported Modules**: Gemini 330 series
+  > **Supported Modules:** Gemini 305 / Gemini 330 series
 * **`enable_edge_noise_removal_filter`**
   * Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
   > **Supported Modules**: DaBai Max Pro
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index faaa1dc9..1cedc64b 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -279,7 +279,7 @@
   > **支持模组**：Gemini 330 系列。
 * **`enable_fps_boost`**
   * 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
-  > **支持模组**：Gemini 330 系列。
+  > **支持模组：** Gemini 305 / Gemini 330 系列。
 * **`enable_edge_noise_removal_filter`**
   * 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
   > **支持模组**：DaBai Max Pro。

From bf13b012728e3bc3639ada37a40bc97d69b1b5cd Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:48:12 +0800
Subject: [PATCH 05/15] docs: document ROS2 image QoS overrides

---
 .../camera_devices/4_application_guide/launch_parameters.md    | 3 +++
 .../camera_devices/4_application_guide/launch_parameters.md    | 3 +++
 2 files changed, 6 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 99a789b9..c824384b 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -82,6 +82,9 @@ The following are the launch parameters available:
     *   Enable filtering of invalid point clouds.
 *   **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
     *   ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These 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.
+*   **`[stream]_qos_history`, `[stream]_qos_depth`**
+    *   Override the image publisher History and Depth. Common parameters include `color_qos_history`, `color_qos_depth`, `depth_qos_history`, and `depth_qos_depth`; depending on the selected launch file, `stream` can also be `left_color`, `right_color`, `ir`, `left_ir`, or `right_ir`.
+    *   `qos_history` accepts `DEFAULT`, `KEEP_LAST`, or `KEEP_ALL` (case-insensitive). The default is `default`, which keeps the history policy from `[stream]_qos`. `qos_depth` defaults to `-1`, which keeps the base QoS depth; a positive value overrides it.
 * **`color.image_raw.enable_pub_plugins`**
   * Enable Color image transport plugins. The enabled list is determined by the device launch file. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`depth.image_raw.enable_pub_plugins`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index 1cedc64b..af69516d 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -82,6 +82,9 @@
     *   启用无效点云过滤。
 *   **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`**
     *   ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `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`。
+*   **`[stream]_qos_history`、`[stream]_qos_depth`**
+    *   覆盖图像发布器的 History 和 Depth。常用参数包括 `color_qos_history`、`color_qos_depth`、`depth_qos_history` 和 `depth_qos_depth`；根据所使用的 launch 文件，`stream` 还可以是 `left_color`、`right_color`、`ir`、`left_ir` 或 `right_ir`。
+    *   `qos_history` 支持 `DEFAULT`、`KEEP_LAST` 和 `KEEP_ALL`（大小写不敏感）。默认值为 `default`，表示沿用 `[stream]_qos` 的 History 策略。`qos_depth` 默认为 `-1`，表示沿用基础 QoS 的 Depth；设置为正数时覆盖该值。
 * **`color.image_raw.enable_pub_plugins`**
   * 启用彩色图像传输插件。具体启用列表由设备 launch 文件决定。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。
 * **`depth.image_raw.enable_pub_plugins`**

From 67e3780c7510d8989d5a82ccd0870de04df3d344 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:52:20 +0800
Subject: [PATCH 06/15] docs: clarify ROS2 intra-camera sync support

---
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index c824384b..8ba0ae99 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -242,7 +242,7 @@ The following are the launch parameters available:
   *   `DEPTH`: Align color to depth.
   *   This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
 - **`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`. When empty, the node leaves the device's current setting unchanged.
+  - Sets the reference point for intra-camera synchronization on supported Gemini 330/335 series devices. **Options:** `Start`, `Middle`, `End`. When empty, the node leaves the device's current setting unchanged.
 
 ## Device-Specific Parameters
 * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index af69516d..536031d6 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -243,7 +243,7 @@
   *   `DEPTH`：将彩色对齐到深度。
   *   该参数大小写不敏感。硬件 D2C 仅支持 `COLOR` 作为对齐目标；如需对齐到 `DEPTH`，请使用 `align_mode:=SW`。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。
 - **`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`。参数为空时，节点不修改设备当前设置。
+  - 设置支持的 Gemini 330/335 系列设备的相机内同步参考点。**选项：** `Start`、`Middle`、`End`。参数为空时，节点不修改设备当前设置。
 
 ## 设备特定参数
 *   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**

From 9f994e5236ed755e6fef97207134ede99fc1fafc Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:52:54 +0800
Subject: [PATCH 07/15] docs: document ROS2 GMSL device support

---
 .../camera_devices/4_application_guide/launch_parameters.md   | 3 +--
 .../5_advanced_guide/multi_camera/gmsl_camera.md              | 4 +++-
 .../camera_devices/4_application_guide/launch_parameters.md   | 2 +-
 .../5_advanced_guide/multi_camera/gmsl_camera.md              | 4 +++-
 4 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 8ba0ae99..7329f2d8 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -246,8 +246,7 @@ The following are the launch parameters available:
 
 ## Device-Specific Parameters
 * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
-  * Enable the gmsl trigger out signal / set gmsl trigger fps.
-  > Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
+  * Enable the GMSL trigger output signal / set the GMSL trigger frame rate. Supported modules are Gemini 335Lg, 338Lg, 345Lg, and 305g; see [GMSL camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
   >
 * **`enable_ptp_config`**
   * Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
diff --git a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
index 068edfab..69893f05 100644
--- a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
+++ b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
@@ -6,7 +6,7 @@ You can find example usage code in the [example](https://github.com/orbbec/Orbbe
 
 ## Single GMSL camera
 
-The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
+The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB. ROS2 v2.10.1 supports Gemini 335Lg, Gemini 338Lg, Gemini 345Lg, and Gemini 305g.
 
 ```bash
 ros2 launch orbbec_camera gemini_330_gmsl.launch.py
@@ -30,6 +30,8 @@ ros2 launch orbbec_camera multi_gmsl_camera.launch.py
 
 > Note: By default, multi_gmsl_camera.launch.py only starts color and depth. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them.
 
+Use `gemini_330_gmsl.launch.py` for Gemini 335Lg / 338Lg, `gemini_301_series.launch.py` for Gemini 305g, and `gemini345_lg.launch.py` for Gemini 345Lg when composing a multi-camera launch.
+
 ## Multi GMSL camera synced
 
 First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index 536031d6..fe3645e5 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -247,7 +247,7 @@
 
 ## 设备特定参数
 *   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
-    *   启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
+    *   启用 GMSL 触发输出信号 / 设置 GMSL 触发帧率。支持 Gemini 335Lg、338Lg、345Lg 和 305g，具体参考 [GMSL 相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
 * **`enable_ptp_config`**
   * 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。
   > **支持模组**：Gemini 335Le。
diff --git a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
index 374c3256..7587e103 100644
--- a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
+++ b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
@@ -6,7 +6,7 @@
 
 ## 单个 GMSL 相机
 
-GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。
+GMSL 相机在 OrbbecSDK_ROS2 中的使用与通过 USB 的 Gemini 330 系列相机相同。ROS2 v2.10.1 支持 Gemini 335Lg、Gemini 338Lg、Gemini 345Lg 和 Gemini 305g。
 
 ```bash
 ros2 launch orbbec_camera gemini_330_gmsl.launch.py
@@ -30,6 +30,8 @@ ros2 launch orbbec_camera multi_gmsl_camera.launch.py
 
 > 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 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。
 
+组合多相机启动时，Gemini 335Lg / 338Lg 使用 `gemini_330_gmsl.launch.py`，Gemini 305g 使用 `gemini_301_series.launch.py`，Gemini 345Lg 使用 `gemini345_lg.launch.py`。
+
 ## 多个 GMSL 相机同步
 
 首先，请查看如何使用 [multi_camera_synced](./multi_camera_synced.md)。

From 6b0eb4a9ab9c833254175bd8463fea7fbb79cb92 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:53:12 +0800
Subject: [PATCH 08/15] docs: document ROS2 IMU rate aliases

---
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 7329f2d8..4563619a 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -376,7 +376,7 @@ The following are the launch parameters available:
 *   **`enable_sync_output_accel_gyro`**
     *   Enable the sync `accel_gyro`, and output IMU topic real-time data.
 *   **`accel_rate`** / **`gyro_rate`**
-    *   The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`.
+    *   The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`. High-rate aliases such as `1000hz`, `2000hz`, `4000hz`, `8000hz`, `16000hz`, and `32000hz` are also accepted; the equivalent `1khz`–`32khz` forms remain supported.
 *   **`accel_range`** / **`gyro_range`**
     *   The range of the accelerometer (`2g`, `4g`, `8g`, `16g`) and gyroscope (`16dps` to `2000dps`).
 *   **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index fe3645e5..b3701f1c 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -375,7 +375,7 @@
 *   **`enable_sync_output_accel_gyro`**
     *   启用同步 `accel_gyro`，并输出IMU话题实时数据。
 *   **`accel_rate`** / **`gyro_rate`**
-    *   加速度计/陀螺仪的频率。值范围从 `1.5625hz` 到 `32khz`。
+    *   加速度计/陀螺仪的频率。值范围从 `1.5625hz` 到 `32khz`。高采样率也支持 `1000hz`、`2000hz`、`4000hz`、`8000hz`、`16000hz` 和 `32000hz` 写法；等价的 `1khz`～`32khz` 写法仍然支持。
 *   **`accel_range`** / **`gyro_range`**
     *   加速度计（`2g`、`4g`、`8g`、`16g`）和陀螺仪（`16dps` 到 `2000dps`）的范围。
 *   **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**

From 0447e9b2a06166fc2b210a280014200db119aac4 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:53:40 +0800
Subject: [PATCH 09/15] docs: clarify ROS2 depth filter behavior

---
 .../camera_devices/4_application_guide/launch_parameters.md | 6 +++---
 .../camera_devices/4_application_guide/launch_parameters.md | 6 +++---
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 4563619a..90ca0939 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -393,11 +393,11 @@ The following are the launch parameters available:
 *   **`enable_sequence_id_filter`**
     *   Enable the Depth sequence id filter. Set with `sequence_id_filter_id`.
 *   **`enable_threshold_filter`**
-    *   Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`.
+    *   Enable the Depth threshold filter. Set with `threshold_filter_max` and `threshold_filter_min`.
 *   **`enable_hardware_noise_removal_filter`**
-    *   Enable the Depth hardware noise removal filter. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
+    *   Enable the Depth hardware noise removal filter. For Gemini 330 series devices, an empty value uses the SDK default. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_noise_removal_filter`**
-    *   Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
+    *   Enable the Depth software noise removal filter. For Gemini 330 series devices, an empty value uses the SDK default. Set `noise_removal_filter_min_diff`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_spatial_filter`**
     *   Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_temporal_filter`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index b3701f1c..951af15f 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -392,11 +392,11 @@
 *   **`enable_sequence_id_filter`**
     *   启用深度序列id滤波器。使用 `sequence_id_filter_id` 设置。
 *   **`enable_threshold_filter`**
-    *   启用深度阈值滤波器。使用 `threshold_filter_max`、`threshold_filter_min` 设置。
+    *   启用深度阈值滤波器。使用 `threshold_filter_max` 和 `threshold_filter_min` 设置。
 *   **`enable_hardware_noise_removal_filter`**
-    *   启用深度硬件降噪滤波器。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
+    *   启用深度硬件降噪滤波器。Gemini 330 系列设备中，参数为空表示使用 SDK 默认值。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_noise_removal_filter`**
-    *   启用深度软件降噪滤波器。使用 `noise_removal_filter_min_diff` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
+    *   启用深度软件降噪滤波器。Gemini 330 系列设备中，参数为空表示使用 SDK 默认值。使用 `noise_removal_filter_min_diff` 等参数设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_spatial_filter`**
     *   启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_temporal_filter`**

From 0469c534a0e8e6fad4c374c8fcc4fb2440b7159c Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:54:08 +0800
Subject: [PATCH 10/15] docs: document ROS2 image save outputs

---
 docs/en/source/camera_devices/4_application_guide/services.md | 1 +
 docs/zh/source/camera_devices/4_application_guide/services.md | 1 +
 2 files changed, 2 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md
index fe7fc76b..aace7b64 100644
--- a/docs/en/source/camera_devices/4_application_guide/services.md
+++ b/docs/en/source/camera_devices/4_application_guide/services.md
@@ -331,6 +331,7 @@ On Gemini 330 series devices with firmware `1.8.21` or later, the following serv
     ```bash
     ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
     ```
+    The service saves frames from each enabled image stream, up to the configured `max_save_images_count` (default `10`). For every frame, the node writes matching `.raw`, `.png`, and metadata `.json` files under the `image` directory in the current working directory. File names include the stream, resolution, frame rate, local timestamp with microsecond precision, and frame index.
 *   `/camera/save_point_cloud`
     ```bash
     ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md
index 223bb4e4..4ac6ca93 100644
--- a/docs/zh/source/camera_devices/4_application_guide/services.md
+++ b/docs/zh/source/camera_devices/4_application_guide/services.md
@@ -332,6 +332,7 @@ Gemini 330 系列设备使用固件 `1.8.21` 及以上版本时，如果设备
     ```bash
     ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
     ```
+    该服务会为每个已启用的图像流保存帧，数量受 `max_save_images_count` 限制（默认值为 `10`）。每帧都会在当前工作目录下的 `image` 目录中生成对应的 `.raw`、`.png` 和元数据 `.json` 文件。文件名包含流名称、分辨率、帧率、带微秒精度的本地时间戳和帧序号。
 *   `/camera/save_point_cloud`
     ```bash
     ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'

From 0c78e5a104d621a6c1406c181d6a724cd191ac29 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:54:33 +0800
Subject: [PATCH 11/15] docs: document ROS2 timestamp CSV rotation

---
 docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md | 4 ++++
 docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md | 4 ++++
 2 files changed, 8 insertions(+)

diff --git a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
index 5b8660b7..7d52dd3c 100644
--- a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
+++ b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
@@ -14,6 +14,10 @@ frame_timestamp_csv_file:=/tmp/frame_timestamp.csv
 
 The CSV contains SDK frame index, hardware frame number, sensor timestamp, device/global/system timestamp, steady arrival/publish delta, ROS publish duration, and SDK delay fields.
 
+### CSV Rotation
+
+Each CSV file contains at most `1,024,575` frame rows plus the header. When the limit is reached, the logger automatically starts the next indexed file, for example `frame_timestamp_1.csv` and `frame_timestamp_2.csv`.
+
 ### Field Description
 
 The current CSV contains two groups of fields with the same structure, prefixed by `color_` and `depth_`, for example `color_sdk_frame_index` and `depth_sdk_frame_index`. The two groups have identical definitions and differ only in data source.
diff --git a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
index 72958fd3..6080518c 100644
--- a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
+++ b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
@@ -14,6 +14,10 @@ frame_timestamp_csv_file:=/tmp/frame_timestamp.csv
 
 CSV 中包含 SDK frame index、hardware frame number、sensor timestamp、device/global/system timestamp、steady arrival/publish delta、ROS 发布耗时以及 SDK delay 等字段。
 
+### CSV 分片
+
+每个 CSV 文件最多保存 `1,024,575` 行帧数据和 1 行表头。达到上限后，日志器会自动写入下一个带序号的文件，例如 `frame_timestamp_1.csv`、`frame_timestamp_2.csv`。
+
 ### 字段说明
 
 当前 CSV 中包含两组同构字段，分别以 `color_` 和 `depth_` 为前缀，例如 `color_sdk_frame_index` 和 `depth_sdk_frame_index`。两组字段定义完全一致，仅数据来源不同。

From a27ad531386c1f45fefcb2882f57ed6c2e64c9ef Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 11:56:51 +0800
Subject: [PATCH 12/15] docs: document ROS2 color queue diagnostics

---
 .../4_application_guide/launch_parameters.md     |  2 ++
 .../4_application_guide/services.md              | 16 ++++++++++++++++
 .../4_application_guide/launch_parameters.md     |  2 ++
 .../4_application_guide/services.md              | 16 ++++++++++++++++
 4 files changed, 36 insertions(+)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 90ca0939..2dd14698 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -65,6 +65,8 @@ The following are the launch parameters available:
     *   For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md).
 *   **`enable_[color|depth|left_ir|right_ir|ir]`**
     *   Enable or disable the corresponding image stream.
+*   **`color_frame_queue_max_frames`**, **`left_color_frame_queue_max_frames`**, **`right_color_frame_queue_max_frames`**
+    *   Set the maximum number of color frames buffered by the corresponding color-frame worker. The default is `10`; when the queue is full, the oldest frame is discarded and the overflow counter is incremented. The current queue size and overflow counters can be queried with `/camera/get_color_queue_stats`.
 *   **`[color|depth|left_ir|right_ir|ir]_rotation`**
     *   Set stream image rotation.
     *   The possible values are `0`, `90`, `180`, `270`.
diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md
index aace7b64..9dc8d129 100644
--- a/docs/en/source/camera_devices/4_application_guide/services.md
+++ b/docs/en/source/camera_devices/4_application_guide/services.md
@@ -108,6 +108,22 @@
     ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
     ```
 
+### Color Queue Diagnostics
+
+* `/camera/get_color_queue_stats`
+
+This service uses `std_srvs/srv/SetBool`. Pass `false` to query the current statistics, or `true` to query and reset the accumulated statistics.
+
+```bash
+ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: false}'
+```
+
+The JSON response in `message` contains the total `overflow_count` and a `queues` object. Each enabled queue reports `capacity_frames`, `queue_size`, `max_queue_size`, `overflow_count`, `oldest_queue_wait_ms`, and `max_queue_wait_ms`. The service also reports the node `namespace` and whether the statistics were reset in `statistics_reset`.
+
+```bash
+ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: true}'
+```
+
 ### Runtime Stream Configuration
 
 *   `/camera/set_stream_profile`
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index 951af15f..42bf8b86 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -65,6 +65,8 @@
     *   如需降低 CPU 使用率，可参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md) 中的 `color_format` 建议。
 *   **`enable_[color|depth|left_ir|right_ir|ir]`**
     *   启用或关闭对应图像流。
+*   **`color_frame_queue_max_frames`**、**`left_color_frame_queue_max_frames`**、**`right_color_frame_queue_max_frames`**
+    *   设置对应彩色帧线程缓存的最大帧数，默认值为 `10`。队列满时会丢弃最旧帧，并增加溢出计数；当前队列长度和溢出统计可通过 `/camera/get_color_queue_stats` 查询。
 *   **`[color|depth|left_ir|right_ir|ir]_rotation`**
     *   设置流图像旋转。
     *   可能的值为 `0`、`90`、`180`、`270`。
diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md
index 4ac6ca93..e9e4f4ee 100644
--- a/docs/zh/source/camera_devices/4_application_guide/services.md
+++ b/docs/zh/source/camera_devices/4_application_guide/services.md
@@ -108,6 +108,22 @@
     ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
     ```
 
+### 彩色帧队列诊断
+
+* `/camera/get_color_queue_stats`
+
+该服务使用 `std_srvs/srv/SetBool`。请求值为 `false` 时查询当前统计信息；请求值为 `true` 时查询并重置累计统计信息。
+
+```bash
+ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: false}'
+```
+
+响应的 `message` 字段为 JSON，包含总 `overflow_count` 和 `queues` 对象。每个已启用队列会报告 `capacity_frames`、`queue_size`、`max_queue_size`、`overflow_count`、`oldest_queue_wait_ms` 和 `max_queue_wait_ms`。响应同时包含节点 `namespace` 以及是否执行了统计重置的 `statistics_reset` 字段。
+
+```bash
+ros2 service call /camera/get_color_queue_stats std_srvs/srv/SetBool '{data: true}'
+```
+
 ### 运行时数据流配置
 
 *   `/camera/set_stream_profile`

From bc029432b94707e1abf3cdbe9cb19b0323e8e408 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 14:16:38 +0800
Subject: [PATCH 13/15] Revert "docs: document ROS2 IMU rate aliases"

This reverts commit 5f9f77c35542bc6d83ce505aafabbb7f91004c31.
---
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 .../camera_devices/4_application_guide/launch_parameters.md     | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
index 2dd14698..3d9bcb0d 100644
--- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md
@@ -378,7 +378,7 @@ The following are the launch parameters available:
 *   **`enable_sync_output_accel_gyro`**
     *   Enable the sync `accel_gyro`, and output IMU topic real-time data.
 *   **`accel_rate`** / **`gyro_rate`**
-    *   The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`. High-rate aliases such as `1000hz`, `2000hz`, `4000hz`, `8000hz`, `16000hz`, and `32000hz` are also accepted; the equivalent `1khz`–`32khz` forms remain supported.
+    *   The frequency of the accelerometer/gyroscope. Values range from `1.5625hz` to `32khz`.
 *   **`accel_range`** / **`gyro_range`**
     *   The range of the accelerometer (`2g`, `4g`, `8g`, `16g`) and gyroscope (`16dps` to `2000dps`).
 *   **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**
diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
index 42bf8b86..849cfe5c 100644
--- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
+++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md
@@ -377,7 +377,7 @@
 *   **`enable_sync_output_accel_gyro`**
     *   启用同步 `accel_gyro`，并输出IMU话题实时数据。
 *   **`accel_rate`** / **`gyro_rate`**
-    *   加速度计/陀螺仪的频率。值范围从 `1.5625hz` 到 `32khz`。高采样率也支持 `1000hz`、`2000hz`、`4000hz`、`8000hz`、`16000hz` 和 `32000hz` 写法；等价的 `1khz`～`32khz` 写法仍然支持。
+    *   加速度计/陀螺仪的频率。值范围从 `1.5625hz` 到 `32khz`。
 *   **`accel_range`** / **`gyro_range`**
     *   加速度计（`2g`、`4g`、`8g`、`16g`）和陀螺仪（`16dps` 到 `2000dps`）的范围。
 *   **`enable_accel_data_correction`** / **`enable_gyro_data_correction`**

From 8d92bb589ed79ac738d9e300492c1d91bc731782 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 15:00:26 +0800
Subject: [PATCH 14/15] docs: document ROS2 timestamp CSV outputs

---
 docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md | 2 +-
 docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
index 7d52dd3c..90683a2e 100644
--- a/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
+++ b/docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
@@ -4,7 +4,7 @@ This section describes frame continuity, timestamp, topic statistics, end-to-end
 
 ## Frame Drop Log and Timestamp CSV Recording
 
-After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node also records color and depth frame timestamp data to a CSV file for analyzing frame continuity, publish latency, and timestamp anomalies.
+After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node records timestamp data for color, depth, and enabled IMU streams to CSV files for analyzing frame continuity, publish latency, and timestamp anomalies. When frame synchronization (`enable_frame_sync:=true`) is enabled, color and depth timestamps are combined into one CSV file; otherwise, they are written to separate `<stem>_color.csv` and `<stem>_depth.csv` files. Synchronized accelerometer and gyroscope data are written to `<stem>_imu.csv`, while standalone accelerometer and gyroscope data are written to `<stem>_accel.csv` and `<stem>_gyro.csv`. All CSV files follow the same rotation rule.
 
 ```bash
 ros2 launch orbbec_camera gemini_330_series.launch.py \
diff --git a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
index 6080518c..38f98c5b 100644
--- a/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
+++ b/docs/zh/source/camera_devices/6_benchmark/diagnostic_tools.md
@@ -4,7 +4,7 @@
 
 ## 帧丢失日志与时间戳 CSV 记录
 
-开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色和深度帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，相机节点会额外记录彩色和深度帧的时间戳数据到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。
+开启 `enable_frame_drop_log` 后，相机节点会在日志中输出彩色和深度帧丢失统计，用于定位 SDK 接收阶段和 ROS 发布阶段的丢帧。设置 `frame_timestamp_csv_file` 后，节点会将彩色、深度以及已启用 IMU 流的时间戳记录到 CSV 文件，用于分析帧连续性、发布延迟和时间戳异常。启用帧同步（`enable_frame_sync:=true`）时，彩色和深度时间戳会汇聚到同一个 CSV 文件中；未启用时分别写入 `<stem>_color.csv` 和 `<stem>_depth.csv`。同步加速度计和陀螺仪数据写入 `<stem>_imu.csv`，独立加速度计和陀螺仪数据分别写入 `<stem>_accel.csv` 和 `<stem>_gyro.csv`。所有 CSV 文件遵循相同的分片规则。
 
 ```bash
 ros2 launch orbbec_camera gemini_330_series.launch.py \

From 072aec04c340f40958682a2ad8573d7778ab2e02 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 26 Aug 2026 15:18:07 +0800
Subject: [PATCH 15/15] docs: update ROS2 distribution support

---
 docs/en/source/camera_devices/1_overview/introduction.md | 2 +-
 docs/zh/source/camera_devices/1_overview/introduction.md | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/docs/en/source/camera_devices/1_overview/introduction.md b/docs/en/source/camera_devices/1_overview/introduction.md
index 0b342869..b6946c08 100644
--- a/docs/en/source/camera_devices/1_overview/introduction.md
+++ b/docs/en/source/camera_devices/1_overview/introduction.md
@@ -1,6 +1,6 @@
 # Introduction
 
-OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, and Jazzy distributions.
+OrbbecSDK ROS2 Wrapper provides seamless integration of Orbbec cameras with ROS 2 environment. It supports ROS2 Foxy, Humble, Jazzy, and Lyrical distributions, with experimental support for Rolling.
 
 By default, we recommend using the **v2-main** branch. For older OpenNI devices not supported by v2-main, please use the **main** branch. Device models that are only supported by the main branch are listed in the table below.
 
diff --git a/docs/zh/source/camera_devices/1_overview/introduction.md b/docs/zh/source/camera_devices/1_overview/introduction.md
index 90c79d10..656fd961 100644
--- a/docs/zh/source/camera_devices/1_overview/introduction.md
+++ b/docs/zh/source/camera_devices/1_overview/introduction.md
@@ -1,6 +1,6 @@
 # 引言
 
-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。
+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、Jazzy 和 Lyrical 发行版，并提供对 Rolling 的实验性支持。
 
 默认推荐使用 **v2-main** 分支。对于 v2-main 尚不支持的旧 OpenNI 设备，请使用 **main** 分支。仅由 main 分支支持的设备型号列在下表中。