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https://github.com/orbbec/OrbbecSDK_ROS2.git
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obyalian
@@ -18,106 +18,116 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
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</thead>
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<tbody>
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<tr>
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<tr>
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<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
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<td>Gemini 435Le</td>
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<td>不支持</td>
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<td>建议用于新设计</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
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<td>Gemini 335Le</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 335</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 336</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
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<td>Gemini 335L</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
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<td>Gemini 336L</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
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<td>Gemini 335Lg</td>
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<td>不支持</td>
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<td>建议用于新设计</td>
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</tr>
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<tr>
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<td>Gemini 335Le</td>
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<td>不支持</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 330</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 335L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 336L</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 330L</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Gemini 2</td>
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<td>Gemini 335Lg</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="5" style="text-align: center; font-weight: bold;">Gemini 2</td>
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<td>Gemini 2</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 2 L</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 2 XL</td>
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<td>建议用于新设计</td>
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<td>即将支持</td>
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<td>recommended for new designs</td>
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<td>to be supported</td>
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</tr>
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<tr>
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<td>Gemini 215</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Gemini 210</td>
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<td>not supported</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
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<td>Femto Bolt</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Femto Mega</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Femto Mega I</td>
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<td>完整维护</td>
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<td>即将支持</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td rowspan="3" style="text-align: center; font-weight: bold;">Astra</td>
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<td>Astra 2</td>
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<td>完整维护</td>
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<td>建议用于新设计</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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<tr>
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<td>Astra+</td>
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<td>限制维护</td>
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<td>不支持</td>
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<td>limited maintenance</td>
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<td>not supported</td>
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</tr>
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<tr>
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<td>Astra Pro Plus</td>
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<td>限制维护</td>
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<td>不支持</td>
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<td>limited maintenance</td>
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<td>not supported</td>
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</tr>
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<tr>
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<td style="text-align: center; font-weight: bold;">Astra Mini</td>
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<td>Astra Mini Pro</td>
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<td>完整维护</td>
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<td>完整维护</td>
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<td>Astra Mini (S) Pro</td>
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<td>full maintenance</td>
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<td>recommended for new designs</td>
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</tr>
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</tbody>
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</table>
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@@ -140,23 +150,20 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
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关于如何获取与升级最新固件，[请点击这里](../3_quickstarts/orbbecviewer.md)。
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| 产品列表 | 最低固件版本 | **启动文件** |
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|:--------------- |:------------ |:---------------------------- |
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| Gemini 435Le | 1.2.04 | gemini435_le.launch.py |
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| Gemini 335 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 336L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 335Lg | 1.3.46 | gemini_330_series.launch.py |
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| Gemini 335Le | 1.5.31 | gemini_330_series.launch.py |
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| Gemini 330 | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 330L | 1.2.20 | gemini_330_series.launch.py |
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| Gemini 2 | 1.4.92 | gemini2.launch.py |
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| Gemini 2 L | 1.4.53 | gemini2L.launch.py |
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| Femto Bolt | 1.1.2 | femto_bolt.launch.py |
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| Femto Mega | 1.3.0 | femto_mega.launch.py |
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| Astra 2 | 2.8.20 | astra2.launch.py |
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| Astra Mini Pro | 2.0.01 | astra.launch.py |
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| **产品列表** | **推荐固件版本** | **启动文件** |
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| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
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| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
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| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
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| Gemini 435Le | [1.3.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
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| Gemini 330 series | [1.6.00](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip) | gemini_330_series.launch.py |
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| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
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| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
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| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
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| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
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| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
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| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
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| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
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| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
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所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。
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