docs(camera): add GigE Action Command example

2026-10-04 20:17:47 +08:00 · 2026-09-03 17:29:39 +08:00
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+# GigE Action Command
+
+This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one
+host-side Action Command sender. The sender is intentionally created once at the top level because
+a GVCP Action Command can trigger multiple cameras.
+
+## Requirements
+
+- Gemini 335Le firmware 1.8.24 or later
+- Orbbec SDK 2.10.2 or later
+- Both cameras and the host on the same network
+
+Before running the example, change the two `net_device_ip` values in
+`multi_gige_action_command.launch.py` to match the cameras.
+
+## Start the cameras and sender
+
+```bash
+ros2 launch orbbec_camera multi_gige_action_command.launch.py
+```
+
+The launch file creates these device-scoped configuration services and one network-scoped sender:
+
+```text
+/camera_01/get_action_config
+/camera_01/set_action_config
+/camera_02/get_action_config
+/camera_02/set_action_config
+/gige_action_command_node/send_action_command
+```
+
+## Configure the cameras
+
+Configure Action Signal block 0 on both cameras with matching keys and masks:
+
+```bash
+ros2 service call /camera_01/set_action_config \
+  orbbec_camera_msgs/srv/SetActionConfig \
+  "{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
+
+ros2 service call /camera_02/set_action_config \
+  orbbec_camera_msgs/srv/SetActionConfig \
+  "{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"
+```
+
+Read the configuration back when needed:
+
+```bash
+ros2 service call /camera_01/get_action_config \
+  orbbec_camera_msgs/srv/GetActionConfig \
+  "{selector: 0}"
+```
+
+## Trigger the group
+
+Send an immediate broadcast command. Every camera whose device key, group key, and group mask
+match the request will be triggered:
+
+```bash
+ros2 service call /gige_action_command_node/send_action_command \
+  orbbec_camera_msgs/srv/SendActionCommand \
+  "{device_key: 1, group_key: 1, group_mask: 1, destination_ip: '255.255.255.255', scheduled_time: 0}"
+```
+
+`success: true` means the host dispatched the GVCP command; the protocol does not return a device
+acknowledgment. A nonzero `scheduled_time` uses a GVCP/PTP timestamp, with seconds in the upper
+32 bits and nanoseconds in the lower 32 bits. Scheduled triggering requires the cameras and sender
+host to use synchronized time.