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docs: update migration guide and topic reference
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@@ -23,6 +23,12 @@ These topics provide the raw image data and corresponding calibration informatio
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* Camera calibration data and metadata for the depth stream.
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* `/camera/depth/metadata`
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* Low-level metadata from the depth stream firmware.
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* `/camera/depth/image_unaligned`
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* Depth image before software alignment.
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* **Condition:** Published when `depth_registration` is `true` and `align_mode` is `SW`; it is not published for hardware alignment.
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* `/camera/confidence/image_raw`
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* Confidence image generated by `EnhancedDepthFilter`, encoded as `mono8` or `mono16` according to the confidence frame format.
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* **Condition:** Published when enhanced depth filtering succeeds and the topic has a subscriber.
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* `/camera/ir/image_raw`
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* Raw image data from the infrared (IR) stream.
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@@ -63,6 +69,28 @@ The Inertial Measurement Unit (IMU) topics provide accelerometer and gyroscope d
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* Synchronized data stream containing both accelerometer and gyroscope data in a single message.
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* **Condition:** Published when `enable_sync_output_accel_gyro` is `true`.
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* `/camera/accel/imu_info`
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* Accelerometer calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`.
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* **Condition:** Available with accelerometer output.
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* `/camera/gyro/imu_info`
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* Gyroscope calibration and noise characteristics. The type is `orbbec_camera_msgs/msg/IMUInfo`.
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* **Condition:** Available with gyroscope output.
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### Extrinsics Topics
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The following topics publish stream-to-stream extrinsics with type `orbbec_camera_msgs/msg/Extrinsics`:
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* `/camera/depth_to_ir`
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* `/camera/depth_to_color`
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* `/camera/depth_to_left_ir`
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* `/camera/depth_to_right_ir`
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* `/camera/depth_to_accel`
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* `/camera/depth_to_gyro`
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* `/camera/left_color_to_right_color`
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**Condition:** `enable_publish_extrinsic` must be `true`, and both streams represented by the selected topic must be enabled. Only topics supported by the connected device are published.
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### Device Status & Diagnostics
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* `/camera/device_status`
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@@ -34,9 +34,9 @@ With an open-source SDK, developers can directly submit issues and pull requests
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### **Launch File Differences**
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1. In v2-main, new low-power launch file has been added for the Gemini 330 series:
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1. In v2-main, a new low-CPU launch file has been added for the Gemini 330 series:
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- `gemini_330_series_low_cpu.launch.py`
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2. v2-main introduces support for **Gemini 435Le**, **Gemini 345**, and **Gemini 345Lg** cameras.
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2. v2-main introduces support for **Gemini 210**, **Gemini 301 series**, **Gemini 435Le**, **Gemini 345**, and **Gemini 345Lg** cameras.
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3. Since **OrbbecSDK_v2 only supports UVC devices**, the range of camera models supported in v2-main is slightly narrower than in main. Detailed information is provided in the table below.
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| **camera** | **main** | **v2-main** |
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@@ -46,20 +46,21 @@ With an open-source SDK, developers can directly submit issues and pull requests
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| Gemini 345Lg | Not supported | gemini345_lg.launch.py |
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| Gemini 330 series | gemini_330_series.launch.py | gemini_330_series.launch.py |
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| Gemini 330 low cpu | - | gemini_330_series_low_cpu.launch.py |
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| Gemini 210 | gemini210.launch.py | gemini210.launch.py |
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| Gemini 301 series | Not supported | gemini_301_series.launch.py |
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| Gemini 210 | Not supported | gemini210.launch.py |
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| Gemini 2 | gemini2.launch.py | gemini2.launch.py |
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| Gemini 2L | gemini2L.launch.py | gemini2.launch.py |
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| Gemini 2L | gemini2L.launch.py | gemini2L.launch.py |
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| Gemini 2XL | gemini2XL.launch.py | - |
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| Femto Bolt | femto_bolt.launch.py | femto_bolt.launch.py |
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| Femto Mega | femto_mega.launch.py | femto_mega.launch.py |
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| Femto | femto.launch.py | femto.launch.py |
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| Astra 2 | astra2.launch.py | astra2.launch.py |
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| Astra | astra.launch.py | astra.launch.py |
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| Astra Mini Pro / S Pro | astra_mini_pro.launch.py ... | astra.launch.py |
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| Multi-Camera (Synchronized) | multi_camera_synced.launch.py | multi_camera_synced.launch.py |
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| Multi-Camera (Generic / Universal) | multi_camera.launch.py | multi_camera.launch.pyorbbec_multicamera.launch.py |
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| Single-Camera Generic Launch | ob_camera.launch.py | orbbec_camera.launch.py |
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| OpenNI devices (Dabai、Deeya) | Corresponding model independent file | Not supported |
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| Multi-Camera (Generic / Universal) | multi_camera.launch.py | multi_camera.launch.py |
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| Single-Camera Generic Launch | ob_camera.launch.py | Not provided |
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| Dabai models | Model-specific launch files | dabai_a.launch.py, dabai_al.launch.py, dabai_dcw2.launch.py, dabai_max_pro.launch.py |
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| Deeya | deeya.launch.py | Not supported |
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### **Parameter Differences**
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@@ -136,24 +137,18 @@ With an open-source SDK, developers can directly submit issues and pull requests
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| right_ir.image_raw.enable_pub_plugins | - | Added | Right IR transport plugins |
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| force_ip_enable | - | Added | Force IP feature |
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| force_ip_mac | - | Added | Force IP MAC address |
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| force_ip_dhcp | - | Added | DHCP auto assignment |
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| force_ip_address | - | Added | Force IP static address |
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| force_ip_subnet_mask | - | Added | Force IP subnet mask |
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| force_ip_gateway | - | Added | Force IP gateway |
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**Removed Parameters (main only, removed in v2-main)**
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**Removed or Renamed Parameters**
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| **Parameter** | **Description** |
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| ------------------------------------ | ------------------------------------------------------------ |
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| enable_3d_reconstruction_mode | 3D reconstruction mode deprecated |
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| enable_hardware_reset | Hardware reset interface deprecated |
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| enable_hardware_noise_removal_filter | Hardware noise removal filter deprecated |
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| laser_on_off_mode | Old laser on/off interface, replaced by interleave / laser_index |
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| enable_3d_reconstruction_mode | 3D reconstruction mode repeated; no longer used in v2-main |
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| device_preset | Some logic migrated to new firmware / interleave parameters |
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| enable_trigger_out | Old software trigger interface replaced by software_trigger_enabled |
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| retry_on_usb3_detection_failure | Optional; logic adjusted or removed in v2-main |
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| enable_color_undistortion | Old interface logic integrated elsewhere; still exists in v2-main but usage may be adjusted |
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| enable_3d_reconstruction_mode | Removed; no direct replacement |
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| enable_hardware_reset | Removed |
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| laser_on_off_mode | Renamed to `enable_laser` |
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| enable_trigger_out | Renamed to `trigger_out_enabled` |
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### **Topic Differences**
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