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docs: update example links and descriptions for net and GMSL multi-camera configurations

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2026-09-07 11:45:06 +08:00
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docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md
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@@ -38,7 +38,7 @@ ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_d
**Multi Net camera**
For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py) as an example:
For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/multi_net_camera/multi_net_camera.launch.py) as an example:
```bash
ros2 launch orbbec_camera multi_net_camera.launch.py
docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
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# GMSL_camera
# GMSL Multi-Camera Synchronization
> This section describes how to use GMSL cameras in OrbbecSDK_ROS2.
> This section describes how to synchronize multiple GMSL-connected Gemini 330 Series cameras in OrbbecSDK_ROS2.
You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples).
The example is available in [gmsl_multi_camera_sync](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync).
## Single GMSL camera
## Configure device file permissions
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.
Before starting the cameras, grant access to the camera synchronization device:
```bash
ros2 launch orbbec_camera gemini_330_gmsl.launch.py
sudo chmod 777 /dev/camsync
```
## Multi GMSL camera
## Configure the cameras
To get the `usb_port` of the GMSL camera, plug in the camera and run the following command in the terminal:
@@ -20,38 +20,26 @@ To get the `usb_port` of the GMSL camera, plug in the camera and run the followi
ros2 run orbbec_camera list_devices_node
```
For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
For example, a reported GMSL camera `usb_port` may be `gmsl2-1`.
Go to the [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) file and change the `usb_port`.
Update the `usb_port` values in [multi_gmsl_camera_synced.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_multi_camera_sync/multi_gmsl_camera_synced.launch.py) to match the GMSL links reported by your system. The example uses the standard `gemini_330_series.launch.py` for both cameras.
```bash
ros2 launch orbbec_camera multi_gmsl_camera.launch.py
```
## Synchronization setup
> 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).
In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
GMSL multi-camera synchronization does not require Multi-Camera Sync Hub Pro. Both cameras use `secondary_synced` mode. The receiving camera starts first; the camera that enables the host-side GMSL trigger starts two seconds later.
**Additional Parameter Settings**
* `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
* `enable_gmsl_trigger` : enable hardware soc trigger.
* `gmsl_trigger_fps`: Sets the hardware SoC trigger source frame rate.
* `enable_gmsl_trigger`: Enables the hardware SoC trigger. Enable it on only one camera in the group.
**Run the launch**
Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py)
```bash
ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
```
> Note: By default, multi_gmsl_camera_synced.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) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them.
> Note: Both cameras load [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml), which enables color and depth by default. Modify that file to configure other streams.
## Usage Limitations of GMSL Cameras
docs/en/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.md
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@@ -26,7 +26,21 @@ Further details on efficient intra-process communication can be found [here](htt
Load other component nodes (consumers of the wrapper topics) in the same way.
**Using a launch file**
**Using the shared multi-camera container example**
The [multi_camera_shared_container](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_shared_container) example creates one multithreaded component container and loads two Gemini 330 Series camera components into it. Update the two `usb_port` values in `multi_camera_shared_container.launch.py`, then run:
```bash
ros2 launch orbbec_camera multi_camera_shared_container.launch.py
```
The example passes the following arguments to both camera includes:
* `attach_to_shared_component_container=true`: Loads the camera component into an existing container instead of creating another container.
* `component_container_name=shared_orbbec_container`: Selects the target container. The value must match the name of the container created by the parent launch file.
* `use_intra_process_comms=true`: Enables intra-process communication for the camera component.
**Using the single-camera intra-process demonstration launch**
```bash
ros2 launch orbbec_camera gemini_intra_process_demo_launch.py