deploy: 3dfa299605

zh/_sources/index.rst.txt

@@ -9,11 +9,5 @@ OrbbecSDK V2 ROS2 封装文档
     :maxdepth: 3
     :numbered:
 
-    source/1_overview/overview.rst
-    source/2_installation/installation.rst
-    source/3_quickstarts/quickstarts.rst
-    source/4_application_guide/application_guide.rst
-    source/5_advanced_guide/advanced_guide.rst
-    source/6_benchmark/benchmark.rst
-    source/7_developer_guide/developer_guide.rst
-    source/8_FAQ/FAQ.rst
+    source/camera_devices/index.rst
+    source/lidar_devices/index.rst

zh/_sources/source/lidar_devices/index.rst.txt

@@ -2,7 +2,7 @@ Lidar Devices
 =======================================
 
 .. toctree::
-    :maxdepth: 1
+    :maxdepth: 2
     :numbered:
 
     lidar.md

zh/genindex.html

@@ -42,8 +42,44 @@
   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"></div>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -83,7 +119,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
   </div>
 

zh/index.html

@@ -21,7 +21,8 @@
       <script src="_static/translations.js?v=beaddf03"></script>
     <script src="_static/js/theme.js"></script>
     <link rel="index" title="索引" href="genindex.html" />
-    <link rel="search" title="搜索" href="search.html" /> 
+    <link rel="search" title="搜索" href="search.html" />
+    <link rel="next" title="Camera Devices" href="source/camera_devices/index.html" /> 
 </head>
 
 <body class="wy-body-for-nav"> 
@@ -43,11 +44,44 @@
   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">OrbbecSDK V2 ROS2 封装文档</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
 </ul>
-</div>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -75,19 +109,54 @@
   <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">English</a> | <a class="lang-current" href="#">中文</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="orbbecsdk-v2-ros2">
 <h1>OrbbecSDK V2 ROS2 封装文档<a class="headerlink" href="#orbbecsdk-v2-ros2" title="Link to this heading"></a></h1>
 <div class="toctree-wrapper compound">
+<ul>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
 </div>
 </section>
 
 
            </div>
           </div>
-          <footer>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
+        <a href="source/camera_devices/index.html" class="btn btn-neutral float-right" title="Camera Devices" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
 
   <hr/>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
   </div>
 

zh/search.html

@@ -45,8 +45,44 @@
   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"></div>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="source/camera_devices/index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="source/lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="source/lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="source/lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -91,7 +127,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
   </div>
 

zh/source/camera_devices/1_overview/introduction.html

@@ -43,16 +43,44 @@
   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">引言</a><ul>
-<li><a class="reference internal" href="#id2">支持的硬件产品</a></li>
-<li><a class="reference internal" href="#orbbec">Orbbec 相机规格书</a></li>
-<li><a class="reference internal" href="#id3">支持的平台</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -398,7 +426,7 @@ thead th {
 
   <div role="contentinfo">
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-<li><a class="reference internal" href="#sdk">SDK 概念概述</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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zh/source/camera_devices/1_overview/overview.html

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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
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+              <ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
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   <div role="contentinfo">
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-<li><a class="reference internal" href="#id2">二进制安装</a></li>
-<li><a class="reference internal" href="#id3">从源码构建</a></li>
+              <ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
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+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/2_installation/installation.html

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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">安装</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
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+</ul>
+</li>
+</ul>
+
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     </nav>
@@ -98,7 +131,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/2_installation/registration_script.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">注册脚本（必需）</a><ul>
-<li><a class="reference internal" href="#id2">二进制安装</a></li>
-<li><a class="reference internal" href="#id3">从源码构建</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
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-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+
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       </div>
     </nav>
@@ -107,7 +136,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/3_quickstarts/orbbecviewer.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">OrbbecViewer 快速入门</a><ul>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
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+</ul>
+</li>
+</ul>
+
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-<li><a class="reference internal" href="#rviz2">步骤 3：在 RViz2 中可视化</a></li>
+              <ul>
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-<li><a class="reference internal" href="#id7">调用服务</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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+
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@@ -190,7 +207,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/3_quickstarts/quickstarts.html

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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">快速开始</a></li>
+              <ul>
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
     </nav>
@@ -103,7 +136,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">应用指南</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
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+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
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+</ul>
+</li>
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+
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     </nav>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">压缩图像</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
     </nav>
@@ -91,7 +124,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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-<li><a class="reference internal" href="#rviz2tf">使用rviz2可视化TF树</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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-<li><a class="reference internal" href="#id4">函数解析</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/4_application_guide/launch_parameters.html

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-<li><a class="reference internal" href="#id2">核心与数据流配置</a></li>
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-<li><a class="reference internal" href="#id6">红外流</a></li>
-<li><a class="reference internal" href="#ldp">激光 / LDP</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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-<li><a class="reference internal" href="#ae">交错AE模式</a></li>
-<li><a class="reference internal" href="#id12">相机内同步</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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-<li><a class="reference internal" href="#id16">日志与诊断</a></li>
-<li><a class="reference internal" href="#id17">其他</a></li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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@@ -773,7 +777,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/4_application_guide/point_cloud.html

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-<li><a class="reference internal" href="#">在ROS 2中启用和可视化点云</a><ul>
-<li><a class="reference internal" href="#id1">启用深度点云</a><ul>
-<li><a class="reference internal" href="#id2">启用深度点云的命令</a></li>
-<li><a class="reference internal" href="#rviz2">在RViz2中可视化深度点云</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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-<li><a class="reference internal" href="#id5">在RViz2中可视化彩色点云</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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 </ul>
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+
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     </nav>
@@ -148,7 +169,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/4_application_guide/services.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">所有可用的相机控制服务</a><ul>
-<li><a class="reference internal" href="#id2">数据流控制</a><ul>
-<li><a class="reference internal" href="#id3">彩色流</a></li>
-<li><a class="reference internal" href="#id4">深度流</a></li>
-<li><a class="reference internal" href="#id5">红外流</a></li>
-<li><a class="reference internal" href="#id6">所有数据流</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
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-<li><a class="reference internal" href="#id11">数据捕获与校准管理</a></li>
-<li><a class="reference internal" href="#id12">点云下采样</a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+
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@@ -437,7 +455,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
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zh/source/camera_devices/4_application_guide/topics.html

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-<li><a class="reference internal" href="#id2">图像流</a></li>
-<li><a class="reference internal" href="#id3">点云话题</a></li>
-<li><a class="reference internal" href="#imu">IMU话题</a></li>
-<li><a class="reference internal" href="#id4">设备状态与诊断</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
     </nav>
@@ -207,7 +234,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/advanced_guide.html

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-<li><a class="reference internal" href="#id3">多相机</a></li>
-<li><a class="reference internal" href="#id4">配置与模式</a></li>
+              <ul>
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+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
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@@ -182,7 +210,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/configuration/align_depth_color.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">在 ROS 2 中对齐深度到彩色</a><ul>
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-<li><a class="reference internal" href="#id2">深度到彩色叠加示例</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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@@ -125,7 +153,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">深度 NFOV 和 WFOV 模式配置</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
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+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -94,7 +127,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/configuration/depth_work_mode_switch.html

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   </form>
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">深度工作模式切换</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
 </ul>
-</div>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -112,7 +145,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/configuration/disparity_search_offset.html

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-<li><a class="reference internal" href="#">视差搜索偏移</a><ul>
-<li><a class="reference internal" href="#id2">功能介绍</a></li>
-<li><a class="reference internal" href="#id3">参数介绍</a></li>
-<li><a class="reference internal" href="#id4">运行启动文件</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -181,7 +209,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
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zh/source/camera_devices/5_advanced_guide/configuration/interleave_ae_mode.html

@@ -43,16 +43,44 @@
   </form>
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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">在 Gemini330 系列相机中使用 interleave_ae</a><ul>
-<li><a class="reference internal" href="#id1">参数介绍</a></li>
-<li><a class="reference internal" href="#id2">运行启动文件</a></li>
-<li><a class="reference internal" href="#multi-camera-synced-interleave-ae">Multi_camera_synced + Interleave_ae</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -145,7 +173,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
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zh/source/camera_devices/5_advanced_guide/configuration/net_camera.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">网络相机</a><ul>
-<li><a class="reference internal" href="#femto-mega-gemini-435le-gemini-335le">Femto Mega &amp; Gemini 435Le &amp; Gemini 335Le</a></li>
-<li><a class="reference internal" href="#set-device-ip">set_device_ip 工具</a></li>
-<li><a class="reference internal" href="#ip">强制 IP 功能</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -181,7 +209,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
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zh/source/camera_devices/5_advanced_guide/configuration/predefined_presets.html

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   </form>
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         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">预定义预设</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
 </ul>
-</div>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -126,7 +159,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.html

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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">GMSL 相机</a><ul>
-<li><a class="reference internal" href="#id1">单个 GMSL 相机</a></li>
-<li><a class="reference internal" href="#id2">多个 GMSL 相机</a></li>
-<li><a class="reference internal" href="#id3">多个 GMSL 相机同步</a></li>
-<li><a class="reference internal" href="#id4">GMSL 相机的使用限制</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -152,7 +179,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
   </div>
 

zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera.html

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   </form>
 </div>
         </div><div class="wy-menu wy-menu-vertical" data-spy="affix" role="navigation" aria-label="导航菜单">
-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">多相机</a><ul>
-<li><a class="reference internal" href="#id2">多相机无数据流</a></li>
-<li><a class="reference internal" href="#id3">多相机图像话题帧率过低</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
 </ul>
 </li>
 </ul>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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+</ul>
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+
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced.html

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-<li><a class="reference internal" href="#id4">运行以下命令启动多相机同步</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
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@@ -169,7 +196,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.html

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-<li><a class="reference internal" href="#launch"><strong>参考 launch 文件</strong></a></li>
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-<li><a class="reference internal" href="#fast-dds"><strong>配置 Fast DDS</strong></a></li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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@@ -251,7 +270,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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zh/source/camera_devices/5_advanced_guide/performance/efficient_intra_process_communication.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">高效的进程内通信：</a><ul>
-<li><a class="reference internal" href="#id2">简介</a></li>
-<li><a class="reference internal" href="#id3">示例</a></li>
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+</ul>
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+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -121,7 +150,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/performance/fastdds_tuning.html

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-<li><a class="reference internal" href="#">针对Orbbec相机与ROS2的Fast DDS优化</a><ul>
-<li><a class="reference internal" href="#id1">调整系统参数</a></li>
-<li><a class="reference internal" href="#fast-dds">Fast DDS配置</a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
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-</div>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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zh/source/camera_devices/5_advanced_guide/performance/lower_cpu_usage.html

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-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">使用Orbbec ROS包降低CPU使用率</a><ul>
-<li><a class="reference internal" href="#cpu">降低CPU使用率的推荐设置</a></li>
-<li><a class="reference internal" href="#id1">用于测试的启动文件</a></li>
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-<li><a class="reference internal" href="#id4">测试结果</a></li>
-<li><a class="reference internal" href="#id5">进一步优化</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="../../index.html">Camera Devices</a><ul class="simple">
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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   <div role="contentinfo">
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+</ul>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
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-<li><a class="reference internal" href="#ros2-python">ROS2 Python</a></li>
-<li><a class="reference internal" href="#yaml"><strong>示例 YAML 配置</strong></a></li>
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+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+
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       </div>
     </nav>
@@ -213,7 +237,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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-<li><a class="reference internal" href="#id2">通用基准测试节点</a></li>
-<li><a class="reference internal" href="#id3">服务基准测试节点</a></li>
+              <ul>
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+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
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+</ul>
+</li>
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+
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       </div>
     </nav>
@@ -119,7 +148,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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+<li class="toctree-l1"><a class="reference internal" href="../../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
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+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
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+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
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+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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zh/source/camera_devices/7_developer_guide/migration_guide.html

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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
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+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
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+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
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+</li>
+<li class="toctree-l2"><a class="reference internal" href="../../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
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+
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@@ -170,7 +194,7 @@
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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+    <link rel="search" title="搜索" href="../../search.html" />
+    <link rel="next" title="Lidar Devices" href="../lidar_devices/index.html" />
+    <link rel="prev" title="OrbbecSDK V2 ROS2 封装文档" href="../../index.html" /> 
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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">Camera Devices</a></li>
+              <ul class="current">
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Camera Devices</a><ul class="simple">
 </ul>
-</div>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="../lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="../lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="../lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="../lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="../lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
     </nav>
@@ -81,13 +116,16 @@
 
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-          <footer>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
+        <a href="../../index.html" class="btn btn-neutral float-left" title="OrbbecSDK V2 ROS2 封装文档" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
+        <a href="../lidar_devices/index.html" class="btn btn-neutral float-right" title="Lidar Devices" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
 
   <hr/>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
       </span></p>
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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">License</a></li>
+              <ul>
+<li class="toctree-l1"><a class="reference internal" href="camera_devices/index.html">Camera Devices</a><ul class="simple">
 </ul>
-</div>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="lidar_devices/index.html">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="lidar_devices/lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="lidar_devices/lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar_devices/lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar_devices/lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
         </div>
       </div>
     </nav>
@@ -93,7 +126,7 @@ language governing permissions and limitations under the License.</p>
 
   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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-    <link rel="search" title="搜索" href="../../search.html" /> 
+    <link rel="search" title="搜索" href="../../search.html" />
+    <link rel="next" title="1. 安装" href="lidar.html" />
+    <link rel="prev" title="Camera Devices" href="../camera_devices/index.html" /> 
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 <body class="wy-body-for-nav"> 
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-              <!-- Local TOC -->
-              <div class="local-toc"><ul>
-<li><a class="reference internal" href="#">Lidar Devices</a></li>
+              <ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../camera_devices/index.html">Camera Devices</a><ul class="simple">
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+</li>
+<li class="toctree-l1 current"><a class="current reference internal" href="#">Lidar Devices</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="lidar.html#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="lidar.html#id14">3.2.2. 使用示例：</a></li>
+</ul>
+</li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
+</ul>
+</li>
+</ul>
+
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       </div>
     </nav>
@@ -76,10 +111,31 @@
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-<li class="toctree-l1"><a class="reference internal" href="lidar.html#id10">3. 点云数据详细说明</a></li>
-<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu">4. IMU数据</a></li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html">1. 安装</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id2">1.1. 先决条件</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id3">1.4. 构建包</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id4">1.5. 启动激光雷达节点</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#id5">2. 使用方法</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id11">3.1. 点云格式</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id12">3.2. 点云聚合功能</a></li>
+</ul>
+</li>
+<li class="toctree-l1"><a class="reference internal" href="lidar.html#imu">4. IMU数据</a><ul>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id15">4.1. IMU话题</a></li>
+<li class="toctree-l2"><a class="reference internal" href="lidar.html#id16">4.2. 使用IMU数据</a></li>
+</ul>
+</li>
 </ul>
 </div>
 </section>
@@ -87,13 +143,16 @@
 
            </div>
           </div>
-          <footer>
+          <footer><div class="rst-footer-buttons" role="navigation" aria-label="页脚">
+        <a href="../camera_devices/index.html" class="btn btn-neutral float-left" title="Camera Devices" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> 上一页</a>
+        <a href="lidar.html" class="btn btn-neutral float-right" title="1. 安装" accesskey="n" rel="next">下一页 <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+    </div>
 
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   <div role="contentinfo">
     <p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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-    <link rel="search" title="搜索" href="../../search.html" /> 
+    <link rel="search" title="搜索" href="../../search.html" />
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 <body class="wy-body-for-nav"> 
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-              <div class="local-toc"><ul>
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-<li><a class="reference internal" href="#id2">1.1. 先决条件</a></li>
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-<li><a class="reference internal" href="#id3">1.4. 构建包</a></li>
-<li><a class="reference internal" href="#id4">1.5. 启动激光雷达节点</a></li>
+              <ul class="current">
+<li class="toctree-l1"><a class="reference internal" href="../camera_devices/index.html">Camera Devices</a><ul class="simple">
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-<li><a class="reference internal" href="#id5">2. 使用方法</a><ul>
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-<li><a class="reference internal" href="#id8">2.3. 检查激光雷达支持的配置</a></li>
-<li><a class="reference internal" href="#id9">2.4. 2.4 参数和配置</a></li>
+<li class="toctree-l1 current"><a class="reference internal" href="index.html">Lidar Devices</a><ul class="current">
+<li class="toctree-l2 current"><a class="current reference internal" href="#">1. 安装</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#id2">1.1. 先决条件</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#deb">1.2. 安装deb依赖项</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#udev">1.3. 安装udev规则</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id3">1.4. 构建包</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id4">1.5. 启动激光雷达节点</a></li>
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-<li><a class="reference internal" href="#id14">3.2.2. 使用示例：</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#id5">2. 使用方法</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#id6">2.1. 运行驱动</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id7">2.2. 获取已连接激光雷达的设备信息</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id8">2.3. 检查激光雷达支持的配置</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id9">2.4. 2.4 参数和配置</a></li>
+</ul>
+</li>
+<li class="toctree-l2"><a class="reference internal" href="#id10">3. 点云数据详细说明</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#id11">3.1. 点云格式</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id12">3.2. 点云聚合功能</a><ul>
+<li class="toctree-l4"><a class="reference internal" href="#id13">3.2.1. 功能特点：</a></li>
+<li class="toctree-l4"><a class="reference internal" href="#id14">3.2.2. 使用示例：</a></li>
 </ul>
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-<li><a class="reference internal" href="#imu">4. IMU数据</a><ul>
-<li><a class="reference internal" href="#id15">4.1. IMU话题</a></li>
-<li><a class="reference internal" href="#id16">4.2. 使用IMU数据</a></li>
+<li class="toctree-l2"><a class="reference internal" href="#imu">4. IMU数据</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="#id15">4.1. IMU话题</a></li>
+<li class="toctree-l3"><a class="reference internal" href="#id16">4.2. 使用IMU数据</a></li>
 </ul>
 </li>
 </ul>
-</div>
+</li>
+</ul>
+
         </div>
       </div>
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@@ -90,6 +96,7 @@
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   <ul class="wy-breadcrumbs">
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+          <li class="breadcrumb-item"><a href="index.html">Lidar Devices</a></li>
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@@ -320,13 +327,15 @@ ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</
 
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-      <span class="lastupdated">最后更新于 2026年01月04日 01:12:35.
+      <span class="lastupdated">最后更新于 2026年01月04日 01:19:55.
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