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docs/all_available_service_for_camera_control.md
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# All available service for camera control
The name of the following service already expresses its function.
However, it should be noted that the corresponding `set_[ir|depth|color]*`
and `get[ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
to `true` in the stream that corresponds to the argument of the launch file.
> The name of the following service already expresses its function.
> However, it should be noted that the corresponding `set_[ir|depth|color]*`
> and `get[ir|right_ir|left_ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
> to `true` in the stream that corresponds to the argument of the launch file.
- `/camera/get_auto_white_balance`
- `/camera/get_color_exposure`
- `/camera/get_color_gain`
- `/camera/get_depth_exposure`
- `/camera/get_depth_gain`
- `/camera/get_device_info`
- `/camera/get_ir_exposure`
- `/camera/get_ir_gain`
- `/camera/get_ldp_status`
- `/camera/get_sdk_version`
- `/camera/get_white_balance`
- `/camera/set_auto_white_balance`
- `/camera/set_color_auto_exposure`
- `/camera/set_color_exposure`
- `/camera/set_color_gain`
- `/camera/set_depth_auto_exposure`
- `/camera/set_depth_exposure`
- `/camera/set_depth_gain`
- `/camera/set_fan_work_mode`
- `/camera/set_floor_enable`
- `/camera/set_ir_auto_exposure`
- `/camera/set_ir_exposure`
- `/camera/set_ir_gain`
- `/camera/set_laser_enable`
- `/camera/set_ldp_enable`
- `/camera/set_white_balance`
- `/camera/toggle_color`
- `/camera/toggle_depth`
- `/camera/toggle_ir`
- `/camera/set_reset_timestamp`
- `/camera/set_sync_interleaverlaser`
- `/camera/set_sync_hosttime`
* `/camera/get_color_exposure`
```bash
ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_color_gain`
```bash
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_color_auto_exposure`
```bash
ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_color_exposure`
```bash
ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
```
* `/camera/set_color_gain`
```bash
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
```
* `/camera/set_color_ae_roi`
```bash
#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
```
* `/camera/set_color_mirror`
```bash
#v2 version is not supported yet
ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
```
* `/camera/toggle_color`
```bash
ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
```
* `/camera/get_depth_exposure`
```bash
ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_depth_gain`
```bash
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_depth_auto_exposure`
```bash
ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_depth_exposure`
```bash
ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
```
* `/camera/set_depth_gain`
```bash
#v2 version is not supported yet
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
```
* `/camera/set_depth_ae_roi`
```bash
#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
```
* `/camera/set_depth_mirror`
```bash
ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
```
* `/camera/toggle_depth`
```bash
ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
```
* `/camera/get_ir_exposure`
```bash
ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/get_ir_gain`
```bash
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_ir_long_exposure`
```bash
ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_ir_auto_exposure`
```bash
ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_ir_exposure`
```bash
ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
```
* `/camera/set_ir_gain`
```bash
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
```
* `/camera/set_ir_mirror`
```bash
#v2 version is not supported yet
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
```
* `/camera/switch_ir`
```bash
ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
```
* `/camera/toggle_ir`
```bash
ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
```
* `/camera/get_auto_white_balance`
```bash
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_auto_white_balance`
```bash
ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
```
* `/camera/get_white_balance`
```bash
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_white_balance`
```bash
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
```
* `/camera/set_laser_enable`
```bash
ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_ldp_enable`
```bash
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
```
* `/camera/get_ldp_status`
```bash
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/get_lrm_measure_distance`
```bash
ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/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 '{}'
```
* `/camera/save_images`
```bash
ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
```
* `/camera/save_point_cloud`
```bash
ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
```
* `/camera/set_fan_work_mode`
```bash
ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
```
* `/camera/set_filter`
```bash
#filter_name is the filter name,filter_enable is whether to enable the filter switch,and filter_param is the filter parameter
#set DecimationFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter,filter_enable: false,filter_param: [5]}'
#set SpatialAdvancedFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter,filter_enable: true,filter_param: [0.5,160,1,8]}'
#set SequenceIdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [1]}'
#set ThresholdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [0,15999]}'
#set NoiseRemovalFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter,filter_enable: true,filter_param: [256,80]}'
#set HardwareNoiseRemoval
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval,filter_enable: true,filter_param: []}'
```
* `/camera/set_floor_enable`
```bash
ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_reset_timestamp`
```bash
#Only available when time_domain param is set to device
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_sync_interleaverlaser`
```bash
#Only available if interleave_ae_mode param is set to laser and interleave_frame_enable param is set to true
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
```
* `/camera/set_sync_hosttime`
```
ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
```
docs/all_available_topics.md
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# All available topics
> The names of the following topics already express their functions.
> However, it should be noted that the corresponding `[ir|right_ir|left_ir|depth|color]/[image_raw|camera_info|metadata]`
> topics are only available when `enable[ir|right_ir|left_ir|depth|color]` is set to true in the stream corresponding to the startup file parameters.
- `/camera/color/camera_info` : The color camera info.
- `/camera/color/image_raw`: The color stream image.
- `/camera/color/metadata`: The color stream firmware data.
- `/camera/depth/camera_info`: The depth stream image.
- `/camera/depth/image_raw`: The depth stream image
- `/camera/depth/image_raw`: The depth stream image.
- `/camera/depth/metadata`:The depth stream firmware data.
- `/camera/depth/points` : The point cloud, only available when `enable_point_cloud` is `true`.
- `/camera/depth_registered/points`: The colored point cloud, only available when `enable_colored_point_cloud`
is `true`.
- `/camera/depth_filter_status`: The depth sensor filter status.
- `/camera/ir/camera_info`: The IR camera info.
- `/camera/ir/image_raw`: The IR stream image
- `/camera/ir/image_raw`: The IR stream image.
- `/camera/ir/metadata`: The IR stream firmware data.
- `/camera/accel/sample`: Acceleration data stream `enable_sync_output_accel_gyro`turned off，`enable_accel`turned on
- `/camera/gyro/sample`: Gyroscope data stream，enable_sync_output_accel_gyro `turned off，`enable_gyro`turned on
- `camera/gyro_accel/sample`: Synchronized data stream of acceleration and gyroscope，`enable_sync_output_accel_gyro`
docs/launch_parameters.md
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The following are the launch parameters available:
* `camera_name` : Start the node namespace
* `depth_registration` : Enables alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`
* `serial_number` : The serial number of the camera. This is required when multiple cameras are used
* `usb_port` : The USB port of the camera. This is required when multiple cameras are used
* `device_num` : The number of devices. This must be filled in if multiple cameras are required
* `preset_firmware_path` : The input parameter is the perset firmware path. If multiple paths are input, each path needs to be separated by `,`and a maximum of 3 firmware paths can be input
* `uvc_backend` : Optional values: v4l2, libuvc
* `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS)
* `point_cloud_qos`, `[color|depth|ir]_qos`, `[color|depth|ir]_camera_info_qos`: ROS 2 Message Quality of Service (QoS) settings. The possible values are `SYSTEM_DEFAULT`, `DEFAULT`, `PARAMETER_EVENTS`, `SERVICES_DEFAULT`, `PARAMETERS`, `SENSOR_DATA` and are case-insensitive. These correspond to `rmw_qos_profile_system_default`, `rmw_qos_profile_default`, `rmw_qos_profile_parameter_events`, `rmw_qos_profile_services_default`, `rmw_qos_profile_parameters`, and `SENSOR_DATA`, respectively.
* `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
* `enable_point_cloud` : Enables the point cloud
* `enable_colored_point_cloud` : Enables the RGB point cloud
* `cloud_frame_id` : Modifying the frame_id name within the ros message
* `connection_delay` : The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging
* `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
* `enable_color_auto_white_balance` : Enables the Color auto white balance
* `color_white_balance` : Set the Color white balance
* `color_ae_max_exposure` : Set the maximum exposure value for Color auto exposure
* `color_brightness` : Set the Color brightness
* `color_sharpness` : Set the Color sharpness
* `color_gamma` : Set the Color gamma
* `color_saturation` : Set the Color saturation
* `color_constrast` : Set the Color constrast
* `color_hue` : Set the Color hue
* `enable_color_backlight_compenstation` : Enables the Color backlight compenstation
* `enable_color_decimation_filter` : Enables the Color decimation filter
* `color_decimation_filter_scale` : Set the Color decimation filter scale
* `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
* `ir_width`, `ir_height`, `ir_fps`,`ir_format`: The resolution and frame rate of the IR stream
* `enable_ir_auto_exposure` : Enables the IR auto exposure
* `ir_exposure` : Set the IR exposure
* `ir_gain` : Set the IR gain
* `ir_ae_max_exposure` : Set the maximum exposure value for IR auto exposure
* `ir_brightness` : Set the IR brightness
* `enable_sync_output_accel_gyro` : Enables the sync accel_gyro,and output IMU topic real-time data
* `enable_accel` : Enables the Accelerometer,and output Accelerometer info topic data
* `accel_rate` : The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`
* `accel_range` : The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera
* `enable_gyro` : Enables the gyroscope,and output gyroscope info topic data
* `gyro_rate` : The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera
* `gyro_range` : The range of the gyroscope, the optional values are `16dps`, `31dps`, `62dps`, `125dps`, `250dps`, `500dps`, `1000dps`, `2000dps`. The specific value depends on the
current camera
* `liner_accel_cov` : Covariance of the linear acceleration
* `angular_vel_cov` : Covariance of the angular velocity
* `publish_tf` : Enables the TF publish
* `tf_publish_rate` : Set Rate of the TF publication
* `ir_info_url` : Set URL of the IR image info
* `color_info_url` : Set URL of the color image info
* `enumerate_net_device` : Enable automatically enumerate network devices,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
* `net_device_ip` : Setting net device's IP address,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
* `net_device_port` : Setting net device's port.Usually, you can set it to 8090,this parameter is usually used [net camera](./orbbec_camera/examples/net_camera/README.MD)
* `log_level` : SDK log level, the default value is `info`, the optional values are `debug`, `info`, `warn`, `error`, `fatal`
* `enable_publish_extrinsic` : Enables the extrinsics publish
* `enable_d2c_viewer` : Publishes the D2C overlay image (for testing only)
* `enable_hardware_d2d` : false: switch to software disparity convert to depth, true: switch to hardware disparity convert to depth
* `enable_ldp` : Enables the LDP
* `ldp_power_level` : Set power level of the LDP
* `sync_mode` : Set sync mode.The default value is standalone,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `depth_delay_us` : The delay time of the depth image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `color_delay_us` : The delay time of the color image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `trigger2image_delay_us` : The delay time of the image capture after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `trigger_out_delay_us` : The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `trigger_out_enabled` : Enables the trigger out signal,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `frames_per_trigger` : The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `software_trigger_period` : software trigger period in ms,this parameter is usually used [multi camera synced](./orbbec_camera/examples/multi_camera_synced/README.MD)
* `enable_frame_sync` : Enables the frame synchronization
* `ordered_pc` : Enable filtering of invalid point clouds
* `enable_depth_scale` : Enables the depth scale
* `enable_decimation_filter` : Enables the Depth decimation filter.The Depth decimation filter setting parameter is `decimation_filter_scale`
* `enable_hdr_merge` : Enables the Depth hdr merge filter.The Depth hdr merge filter setting parameter is `hdr_merge_exposure_1`,`hdr_merge_gain_1`,`hdr_merge_exposure_2`,`hdr_merge_gain_2`
* `enable_sequence_id_filter` : Enables the Depth sequence id filter.The Depth sequence id filter setting parameter is `sequence_id_filter_id`
* `enable_threshold_filter` : Enables the Depth threshold filter.The Depth threshold filter setting parameter is `threshold_filter_max`,`threshold_filter_min`
* `enable_hardware_noise_removal_filter` : Enables the Depth hardware noise removal filter
* `enable_noise_removal_filter` : Enables the Depth software noise removal_filter.The Depth noise removal filter setting parameter is `noise_removal_filter_min_diff`,`noise_removal_filter_max_size`
* `enable_spatial_filter` : Enables the Depth spatial filter.The Depth spatial filter setting parameter is `spatial_filter_alpha`,`spatial_filter_diff_threshold`,`spatial_filter_magnitude`,`spatial_filter_radius`
* `enable_temporal_filter` : Enables the Depth temporal filter.The Depth temporal filter setting parameter is `temporal_filter_diff_threshold`,`temporal_filter_weight`
* `enable_hole_filling_filter` : Enables the Depth hole filling filter.The Depth hole filling filter setting parameter is `hole_filling_filter_mode`
* `align_mode` : The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment
* `diagnostic_period` : Diagnostic period in seconds
* `enable_laser` : Enables the laser. The default value is `true`
* `depth_precision` : The depth precision should be in the format `1mm`. The default value is `1mm`
* `device_preset` : The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). Please refer to the table below to set the `device_preset` value based on your use case. The value should be one of the preset names listed [in the table](#predefined-presets)
* `retry_on_usb3_detection_failure` : If the camera is connected to a USB 2.0 port and is not detected, the system will attempt to reset the camera up to three times. This setting aims to prevent USB 3.0 devices from being incorrectly recognized as USB 2.0. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets
* `laser_energy_level` : Set the laser energy level
* enable_sync_host_time : Enables synchronization of the host time with the camera time. The default value is `true`, if use global time, Set to `false`. Some old devices may not support this feature
* `time_domain` : Select timestamp type: device , global and system
* `enable_color_undistortion` : Enables the Color undistortion
* `config_file_path` : The path to the YAML configuration file. The default value is `""`. If the configuration file is not specified,the default parameters from the launch file will be used. If you want to use a custom configuration file, please refer to `gemini_330_series.launch.py`.`enable_heartbeat` enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
* `enable_heartbeat` : Enables the heartbeat function, which is set to `false` by default. If set to `true`, the camera node will send heartbeat signals to the firmware, and if hardware logging is desired, it should also be set to `true`
* `gmsl_trigger_fps` : Set gmsl trigger fps,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD)
* `enable_gmsl_trigger` : Enables the gmsl trigger out signal,this parameter is usually used [gmsl camera](./orbbec_camera/examples/gmsl_camera/README.MD)
* `disparity_range_mode` : Disparity search length,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
* `disparity_search_offset` : Set Disparity search offset value,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
* `disparity_offset_config` : Disparity search offset interleave frames,this parameter is usually used [disparity search offset](./orbbec_camera/examples/disparity_search_offset/README.MD)
* `frame_aggregate_mode` : Set frame aggregate output mode.The optional values are `full_frame`,`color_frame`,`ANY`,`disable`
* `interleave_ae_mode` : Set laser or hdr interleave,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
* `interleave_frame_enable` : Whether to enable interleave frame mode,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
* `interleave_skip_enable` : Whether to enable skip frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
* `interleave_skip_index` : Set skip pattern IR or flood IR,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
* `[hdr|laser]_index[0|1]_[laser_control|depth_exposure|depth_gain|ir_brightness|ae_max_exposure]`:In interleave frame mode, set the 0th and 1st frame parameters of hdr or laser interleaving frames,this parameter is usually used [interleave ae mode](./orbbec_camera/examples/interleave_ae_mode/README.MD)
* `color_ae_roi_[left|right|top|bottom]`,`depth_ae_roi_[left|right|top|bottom]`:Set Color and Depth auto exposure ROI.
**IMPORTANT**: *Please carefully read the instructions regarding software filtering settings
at [this link](https://www.orbbec.com/docs/g330-use-depth-post-processing-blocks/). If you are uncertain, do not modify
docs/predefined_presets.md
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Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset`
parameter.
## Optional depth preset
> You can pass the firmware path of the Optional preset into the `preset_firmware_path` launch param
```bash
ros2 launch orbbec_camera gemini_330_series.launch.py preset_firmware_path:=/home/orbbec/G336X_Dimensioning_Accurate_0.0.1_78C743B9.bin,/home/orbbec/G336X_Dimensioning_Dense_0.0.1_4E70D227.bin device_preset:=G336X Dimensioning Dense
```