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README.MD
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@@ -254,7 +254,6 @@ ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '
```bash
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
```
- Get exposure
@@ -325,18 +324,56 @@ For more information about Multi camera.Reference:[Multi camera documentation](.
For the entire list of parameters type `ros2 param list`.
* `color_width`, `color_height`, `color_fps`,`color_format`: The resolution and frame rate of the color stream
* `enable_color_auto_exposure_priority` : Enables the Color auto exposure priority
* `enable_color_auto_exposure` : Enables the Color auto exposure
* `color_exposure` : Set the Color exposure
* `color_gain` :Set the Color gain
* `depth_width`, `depth_height`, `depth_fps`,`depth_format`: The resolution and frame rate of the depth stream
* `enable_depth_auto_exposure_priority` : Enables the Depth auto exposure priority
* `depth_brightness` : Set the Depth brightness
[......](./docs/launch_parameters.md)
Explanation of parameters.Reference:[Launch parameters documentation](./docs/launch_parameters.md)
## All available service for camera control
For the entire list of service `ros2 service list`.
* `/camera/get_device_info`
```bash
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
```
* `/camera/get_sdk_version`
```bash
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
```
* `/camera/reboot_device`
```bash
ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
```
[......](./docs/all_available_service_for_camera_control.md)
Explanation of service.Reference:[All available service fo camera control documentation](./docs/all_available_service_for_camera_control.md)
## All available topics
For the entire list of topic `ros2 topic list`.
- `/camera/color/camera_info` : The color camera info.
- `/camera/color/image_raw`: The color stream image.
- `/camera/depth/camera_info`: The depth stream image.
- `/camera/depth/image_raw`: The depth stream image.
[......](./docs/all_available_topics.md)
Explanation of topic.Reference:[All available topics documentation](./docs/all_available_topics.md)
## Configuration of depth NFOV and WFOV modes
@@ -424,7 +461,7 @@ Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2-
For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes.
| Product List | Minimal Firmware Version | **Launch File** |
| Product List | Minimal Firmware Version | **Launch File** |
| :----------- | :----------------------- | :-------------------------- |
| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |