From 6c9bf89af1d31ddb9cfb3c7442a002d9a7e9092b Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 23 Mar 2026 13:58:25 +0800 Subject: [PATCH] Update documentation to include supported versions for launch parameters, services, and network camera configurations --- .../4_application_guide/launch_parameters.md | 166 ++++++++++-------- .../4_application_guide/services.md | 18 +- .../configuration/net_camera.md | 2 + .../multi_camera_synced_verification_tool.md | 1 + .../4_application_guide/launch_parameters.md | 104 ++++++----- .../4_application_guide/services.md | 18 +- .../configuration/net_camera.md | 2 + .../multi_camera_synced_verification_tool.md | 2 +- 8 files changed, 181 insertions(+), 132 deletions(-) diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index 30861797..240ec27f 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -38,16 +38,21 @@ The following are the launch parameters available: * Enable filtering of invalid point clouds. * **`point_cloud_qos`, `[stream]_qos`, `[stream]_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.image_raw.enable_pub_plugins`** - * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. -* **`depth.image_raw.enable_pub_plugins`** - * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. -* **`left_ir.image_raw.enable_pub_plugins`** - * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. -* **`right_ir.image_raw.enable_pub_plugins`** - * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. -* **`point_cloud_decimation_filter_factor`** - * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling. +* **`color.image_raw.enable_pub_plugins`** + * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + > **Supported Versions**: Wrapper version 2.6.3 and above. +* **`depth.image_raw.enable_pub_plugins`** + * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. + > **Supported Versions**: Wrapper version 2.6.3 and above. +* **`left_ir.image_raw.enable_pub_plugins`** + * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + > **Supported Versions**: Wrapper version 2.6.3 and above. +* **`right_ir.image_raw.enable_pub_plugins`** + * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. + > **Supported Versions**: Wrapper version 2.6.3 and above. +* **`point_cloud_decimation_filter_factor`** + * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling. + > **Supported Versions**: Wrapper version 2.6.3 and above. ### Sensor Controls @@ -81,12 +86,11 @@ The following are the launch parameters available: #### Depth Stream -* **`enable_depth_auto_exposure_priority`** - - * Enable the Depth auto exposure priority. -* **`mean_intensity_set_point`** - * Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`. - > **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility. +* **`enable_depth_auto_exposure_priority`** + * Enable the Depth auto exposure priority. +* **`mean_intensity_set_point`** + * Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`. + > **Note:** In wrapper version 2.4.7 and later, this parameter replaces the deprecated `depth_brightness`, but `depth_brightness` will still be supported for backward compatibility. * **`enable_depth_scale`** * Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`. * **`depth_precision`** @@ -132,51 +136,56 @@ The following are the launch parameters available: > Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md). #### Network Cameras -* **`enumerate_net_device`** - * Enable automatically enumerate network devices. -* **`net_device_ip`** / **`net_device_port`** - * Set net device's IP address and port (Usually `8090`). -* **`force_ip_enable`** - * Enable the Force IP function. **Default:** `false` - -* **`force_ip_mac`** - * Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""` - -* **`force_ip_address`** - * Static IP address to assign. **Default:** `192.168.1.10` - -* **`force_ip_subnet_mask`** - * Subnet mask for the static IP. **Default:** `255.255.255.0` - -* **`force_ip_gateway`** - * Gateway address for the static IP. **Default:** `192.168.1.1` - +* **`enumerate_net_device`** + * Enable automatically enumerate network devices. +* **`net_device_ip`** / **`net_device_port`** + * Set net device's IP address and port (Usually `8090`). +* **`force_ip_enable`** + * Enable the Force IP function. **Default:** `false` + > **Supported Versions**: Wrapper version 2.5.4 and above. +* **`force_ip_mac`** + * Target device MAC address when multiple cameras are connected (e.g., `"54:14:FD:06:07:DA"`). You can use the `list_devices_node` to find the MAC of each device. **Default:** `""` + > **Supported Versions**: Wrapper version 2.5.4 and above. +* **`force_ip_address`** + * Static IP address to assign. **Default:** `192.168.1.10` + > **Supported Versions**: Wrapper version 2.5.4 and above. +* **`force_ip_subnet_mask`** + * Subnet mask for the static IP. **Default:** `255.255.255.0` + > **Supported Versions**: Wrapper version 2.5.4 and above. +* **`force_ip_gateway`** + * Gateway address for the static IP. **Default:** `192.168.1.1` + > **Supported Versions**: Wrapper version 2.5.4 and above. > Used for [net camera](../5_advanced_guide/configuration/net_camera.md). #### Device-Specific -* **`preset_resolution_config`** - * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable. - > Only supported 435Le. - > -* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** - * Enable the gmsl trigger out signal / set gmsl trigger fps. +* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** + * Enable the gmsl trigger out signal / set gmsl trigger fps. > Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md). > +* **`enable_ptp_config`** + * Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`. + > **Supported Modules**: Gemini 335Le + > **Supported Versions**: Wrapper version 2.3.4 and above. +* **`preset_resolution_config`** + * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable. + > **Supported Modules**: Gemini 435Le + > **Supported Versions**: Wrapper version 2.6.3 and above. * **`ae_mode`** - * `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **默认值：** `depthbased` - > Only supports Gemini 305. - > + * `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **Default:** `depthbased` + > **Supported Modules**: Gemini 305 + > **Supported Versions**: Wrapper version 2.7.2 and above. * **`enalbe_sports_mode`** * Whether to enable sports mode. **Default:** `false` - > Only supports Gemini 305. - > + > **Supported Modules**: Gemini 305 + > **Supported Versions**: Wrapper version 2.7.2 and above. * **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`** * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1` - > Only supports Gemini 305. - > -* **`enable_ptp_config`** - * Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`. - + > **Supported Modules**: Gemini 305 + > **Supported Versions**: Wrapper version 2.7.2 and above. +* **`enable_false_positive_filter`** + * Enable this option to reduce ghosting noise. + > **Supported Modules**: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg + > **Supported Versions**: Wrapper version 2.7.6 and above; Firmware version 1.9.03 and above. #### Disparity * **`disparity_to_depth_mode`** * `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. @@ -205,20 +214,21 @@ The following are the launch parameters available: * `DEPTH`: Align color to depth. - **`intra_camera_sync_reference`** - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle. + > **Supported Versions**: Wrapper version 2.6.3 and above. ### Basic & General Parameters #### Firmware & Backend -* **`upgrade_firmware`** - * The input parameter is the firmware path. -* **`preset_firmware_path`** - * The input parameter is the preset 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`. -* **`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. -* **`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. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets. +* **`upgrade_firmware`** + * The input parameter is the firmware path. +* **`preset_firmware_path`** + * The input parameter is the preset 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`. +* **`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. +* **`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. It is recommended to set this parameter to `false` when using a USB 2.0 connection to avoid unnecessary resets. #### TF, Extrinsics & Calibration * **`publish_tf`** / **`tf_publish_rate`** @@ -231,26 +241,28 @@ The following are the launch parameters available: * Enable the Color undistortion. #### Time Synchronization -* **`enable_sync_host_time`** - * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`. -* **`time_domain`** - * Select timestamp type: `device`, `global`, and `system`. -* **`time_sync_period`** +* **`enable_sync_host_time`** + * Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`. +* **`time_domain`** + * Select timestamp type: `device`, `global`, and `system`. +* **`time_sync_period`** + * Interval (in seconds) for synchronizing the camera time with the host system. + > **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`. + > **Supported Versions**: Wrapper version 2.6.3 and above. - * Interval (in seconds) for synchronizing the camera time with the host system. - > **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**. -* **`enable_frame_sync`** - * Enable the frame synchronization. +* **`enable_frame_sync`** + * Enable the frame synchronization. #### Logging & Diagnostics -* **`log_level`** - * SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`. +* **`log_level`** + * SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`. * **`log_file_name`** - * Saved SDK log file name. Effective when `log_level` is `debug`. -* **`diagnostic_period`** - * Diagnostic period in seconds. -* **`enable_heartbeat`** - * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware. + * Saved SDK log file name. Effective when `log_level` is `debug`. + > **Supported Versions**: Wrapper version 2.6.3 and above. +* **`diagnostic_period`** + * Diagnostic period in seconds. +* **`enable_heartbeat`** + * Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware. #### Miscellaneous * **`config_file_path`** diff --git a/docs/en/source/camera_devices/4_application_guide/services.md b/docs/en/source/camera_devices/4_application_guide/services.md index a0d12138..7832424e 100644 --- a/docs/en/source/camera_devices/4_application_guide/services.md +++ b/docs/en/source/camera_devices/4_application_guide/services.md @@ -124,10 +124,11 @@ ```bash ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}' ``` - `/camera/get_laser_status` +* `/camera/get_laser_status` ```bash ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}' ``` + > **Supported Versions**: Wrapper version 2.6.3 and above. * `/camera/set_ldp_enable` & `/camera/get_ldp_status` ```bash ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}' @@ -231,13 +232,13 @@ #### Device-Specific -**Gemini 435Le** - * `/camera/write_customer_data` & `/camera/read_customer_data` ```bash ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}' ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}' ``` + > **Supported Modules**: Gemini 435Le + > **Supported Versions**: Wrapper version 2.5.4 and above. * `/camera/set_user_calib_params` & `/camera/get_user_calib_params` ```bash ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \ @@ -258,25 +259,30 @@ -6.804073229432106e-06]}' ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}' ``` + > **Supported Modules**: Gemini 435Le + > **Supported Versions**: Wrapper version 2.5.4 and above. -**Gemini 305** * `/camera/set_ae_mode` ```bash # depthbased or colorbased ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased" ``` - + > **Supported Modules**: Gemini 305 + > **Supported Versions**: Wrapper version 2.7.2 and above. * `/camera/set_sports_mode` ```bash ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true" ``` - + > **Supported Modules**: Gemini 305 + > **Supported Versions**: Wrapper version 2.7.2 and above. ### Point cloud decimation * `/camera/set_point_cloud_decimation` ```bash ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}' ``` + > **Supported Versions**: Wrapper version 2.6.3 and above. * `/camera/get_point_cloud_decimation` ```bash ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}' ``` + > **Supported Versions**: Wrapper version 2.6.3 and above. diff --git a/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md b/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md index af9497b0..bbf4c5d4 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md +++ b/docs/en/source/camera_devices/5_advanced_guide/configuration/net_camera.md @@ -49,6 +49,7 @@ ros2 launch orbbec_camera multi_net_camera.launch.py The **`set_device_ip`** executable allows you to configure the IP settings of a network camera directly from ROS 2, including switching between DHCP and static IP, and setting subnet mask and gateway. This is useful for quickly assigning or updating IP addresses without modifying launch files. > **Note:** The IP settings applied with `set_device_ip` are **permanent** and **will not be reset** if the device is powered off or restarted. +> **Supported Versions**: Wrapper version 2.6.3 and above. **Example Usage** @@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \ The **Force IP** feature allows you to assign a **static IP address** to a network camera, overriding DHCP settings. This is useful when multiple network cameras are connected, and you need each device to have a fixed IP for reliable communication. > **Note:** The Force IP configuration **will be reset if the device is powered off or restarted**. You need to reapply the settings after reboot. +> **Supported Versions**: Wrapper version 2.6.3 and above. **Parameters** diff --git a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md index b0a996a7..983123d1 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md +++ b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md @@ -4,6 +4,7 @@ This example node is designed for **synchronized capture and timestamp verification** across **four Orbbec cameras**. It can be used to validate frame alignment accuracy under the multi-camera **Primary / Secondary Synced** mode. +> **Supported Versions**: Wrapper version 2.6.3 and above. --- diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index d5b2f627..320deb5d 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -38,16 +38,21 @@ * 启用无效点云过滤。 * **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`** * ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。 -* **`color.image_raw.enable_pub_plugins`** - * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 -* **`depth.image_raw.enable_pub_plugins`** - * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。 -* **`left_ir.image_raw.enable_pub_plugins`** - * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 -* **`right_ir.image_raw.enable_pub_plugins`** - * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 -* **`point_cloud_decimation_filter_factor`** - * 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。 +* **`color.image_raw.enable_pub_plugins`** + * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + > **支持版本**： wrapper version 2.6.3 及以上。 +* **`depth.image_raw.enable_pub_plugins`** + * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。 + > **支持版本**： wrapper version 2.6.3 及以上。 +* **`left_ir.image_raw.enable_pub_plugins`** + * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + > **支持版本**： wrapper version 2.6.3 及以上。 +* **`right_ir.image_raw.enable_pub_plugins`** + * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 + > **支持版本**： wrapper version 2.6.3 及以上。 +* **`point_cloud_decimation_filter_factor`** + * 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。 + > **支持版本**： wrapper version 2.6.3 及以上。 ### 传感器控制 @@ -83,9 +88,9 @@ #### 深度流 * **`enable_depth_auto_exposure_priority`** * 启用深度自动曝光优先级。 -* **`mean_intensity_set_point`** - * 设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。 - > **注意：** 这取代了已弃用的 `depth_brightness`，后者仍支持以保持向后兼容性。 +* **`mean_intensity_set_point`** + * 设置开启自动曝光时深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。 + > **注意：** 在 2.4.7 版本之后，该参数取代已弃用的 `depth_brightness`，但为了向后兼容，仍会支持 `depth_brightness`。 * **`enable_depth_scale`** * 设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。 * **`depth_precision`** @@ -132,42 +137,55 @@ > 用于 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。 #### 网络相机 -* **`enumerate_net_device`** - * 启用自动枚举网络设备。 -* **`net_device_ip`** / **`net_device_port`** - * 设置网络设备的IP地址和端口（通常为 `8090`）。 -* **`force_ip_enable`** - * 启用强制IP功能。**默认值：** `false` -* **`force_ip_mac`** - * 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""` -* **`force_ip_address`** - * 要分配的静态IP地址。**默认值：** `192.168.1.10` -* **`force_ip_subnet_mask`** - * 静态IP的子网掩码。**默认值：** `255.255.255.0` -* **`force_ip_gateway`** - * 静态IP的网关地址。**默认值：** `192.168.1.1` +* **`enumerate_net_device`** + * 启用自动枚举网络设备。 +* **`net_device_ip`** / **`net_device_port`** + * 设置网络设备的IP地址和端口（通常为 `8090`）。 +* **`force_ip_enable`** + * 启用强制IP功能。**默认值：** `false` + > **支持版本**： wrapper version 2.5.4 及以上。 +* **`force_ip_mac`** + * 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""` + > **支持版本**： wrapper version 2.5.4 及以上。 +* **`force_ip_address`** + * 要分配的静态IP地址。**默认值：** `192.168.1.10` + > **支持版本**： wrapper version 2.5.4 及以上。 +* **`force_ip_subnet_mask`** + * 静态IP的子网掩码。**默认值：** `255.255.255.0` + > **支持版本**： wrapper version 2.5.4 及以上。 +* **`force_ip_gateway`** + * 静态IP的网关地址。**默认值：** `192.168.1.1` + > **支持版本**： wrapper version 2.5.4 及以上。 > 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。 #### 设备特定 * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`** * 启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。 -* **`preset_resolution_config`** - * 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 仅在 Gemini435Le 设备上受支持。留空禁用。 +* **`enable_ptp_config`** + * 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。 + > **支持模组**：Gemini 335Le。 + > **支持版本**： wrapper version 2.3.4 及以上。 +* **`preset_resolution_config`** + * 摄像头设备的预设分辨率配置。格式: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". 留空禁用。 + > **支持模组**：Gemini 435Le。 + > **支持版本**： wrapper version 2.6.3 及以上。 * **`ae_mode`** * `colorbased`：自动曝光基于彩色流。`depthbased`：自动曝光基于深度流。**默认值：** `depthbased` - > 仅支持Gemini 305。 - > + > **支持模组**：Gemini 305。 + > **支持版本**： wrapper version 2.7.2 及以上。 * **`enalbe_sports_mode`** * 是否开启运动模式。**默认值：** `false` - > 仅支持Gemini 305。 - > + > **支持模组**：Gemini 305。 + > **支持版本**： wrapper version 2.7.2 及以上。 * **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`** * 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1` - > 仅支持Gemini 305。 - > -* **`enable_ptp_config`** - * 启用PTP时间同步。仅适用于Gemini 335Le。需要 `enable_sync_host_time` 设置为 `false`。 + > **支持模组**：Gemini 305。 + > **支持版本**： wrapper version 2.7.2 及以上。 +* **`enable_false_positive_filter`** + * 启用鬼影滤波。可减少重影噪声。 + > **支持模组**： DaBaiA/DaBaiAL/Gemini345/Gemini345Lg. + > **支持版本**： wrapper version 2.7.6 及以上；firmware version 1.9.03 及以上。 #### 视差 * **`disparity_to_depth_mode`** @@ -197,6 +215,7 @@ * `DEPTH`：将彩色对齐到深度。 - **`intra_camera_sync_reference`** - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。 + > **支持版本**： wrapper version 2.6.3 及以上。 ### 基础与通用参数 @@ -227,18 +246,19 @@ * 启用主机时间与相机时间的同步。默认值为 `true`。如果使用全局时间，设置为 `false`。 * **`time_domain`** * 选择时间戳类型：`device`、`global` 和 `system`。 -* **`time_sync_period`** - - * 相机时间与主机系统同步的间隔（秒）。 +* **`time_sync_period`** + * 相机时间与主机系统同步的间隔（秒）。 > **注意**：仅当 **`enable_sync_host_time = true`** 且 **`time_domain = device`** 时需要设置此参数。 + > **支持版本**： wrapper version 2.6.3 及以上。 * **`enable_frame_sync`** * 启用帧同步。 #### 日志与诊断 * **`log_level`** * SDK日志级别。默认为 `info`。可选值：`debug`、`info`、`warn`、`error`、`fatal`。 -* **`log_file_name`** - * 保存的SDK日志文件名。当`log_level`为`debug`时生效。 +* **`log_file_name`** + * 保存的SDK日志文件名。当`log_level`为`debug`时生效。 + > **支持版本**： wrapper version 2.6.3 及以上。 * **`diagnostic_period`** * 诊断周期（秒）。 * **`enable_heartbeat`** diff --git a/docs/zh/source/camera_devices/4_application_guide/services.md b/docs/zh/source/camera_devices/4_application_guide/services.md index 847952ae..3b880bf2 100644 --- a/docs/zh/source/camera_devices/4_application_guide/services.md +++ b/docs/zh/source/camera_devices/4_application_guide/services.md @@ -124,10 +124,11 @@ ```bash ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}' ``` - `/camera/get_laser_status` +* `/camera/get_laser_status` ```bash ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}' ``` + > **支持版本**： wrapper version 2.6.3 及以上。 * `/camera/set_ldp_enable` & `/camera/get_ldp_status` ```bash ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}' @@ -231,12 +232,13 @@ ### 特定设备 -**Gemini 435L** * `/camera/write_customer_data` & `/camera/read_customer_data` ```bash ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}' ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}' ``` + > **支持模组**：Gemini 435Le。 + > **支持版本**： wrapper version 2.5.4 及以上。 * `/camera/set_user_calib_params` & `/camera/get_user_calib_params` ```bash ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \ @@ -257,25 +259,29 @@ -6.804073229432106e-06]}' ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}' ``` - -**Gemini 305** + > **支持模组**：Gemini 435Le。 + > **支持版本**： wrapper version 2.5.4 及以上。 * `/camera/set_ae_mode` ```bash # depthbased or colorbased ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased" ``` - + > **支持模组**：Gemini 305。 + > **支持版本**： wrapper version 2.7.2 及以上。 * `/camera/set_sports_mode` ```bash ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true" ``` - + > **支持模组**：Gemini 305。 + > **支持版本**： wrapper version 2.7.2 及以上。 ### 点云下采样 * `/camera/set_point_cloud_decimation` ```bash ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}' ``` + > **支持版本**： wrapper version 2.6.3 及以上。 * `/camera/get_point_cloud_decimation` ```bash ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}' ``` + > **支持版本**： wrapper version 2.6.3 及以上。 \ No newline at end of file diff --git a/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md b/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md index 55916cf8..174716cc 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/configuration/net_camera.md @@ -49,6 +49,7 @@ ros2 launch orbbec_camera multi_net_camera.launch.py **`set_device_ip`** 可执行文件允许您直接从 ROS 2 配置网络相机的 IP 设置，包括在 DHCP 和静态 IP 之间切换，以及设置子网掩码和网关。这对于快速分配或更新 IP 地址而无需修改启动文件非常有用。 > **注意：**使用 `set_device_ip` 应用的 IP 设置是**永久性的**，如果设备断电或重启，**不会重置**。 +> **支持版本**： wrapper version 2.6.3 及以上。 **示例用法** @@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \ **强制 IP** 功能允许您为网络相机分配**静态 IP 地址**，覆盖 DHCP 设置。当连接多个网络相机时，这非常有用，您需要每个设备具有固定的 IP 以实现可靠的通信。 > **注意：**如果设备断电或重启，强制 IP 配置**将被重置**。您需要在重启后重新应用设置。 +> **支持版本**： wrapper version 2.6.3 及以上。 **参数** diff --git a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md index 4d44121f..5bbea42e 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/multi_camera_synced_verification_tool.md @@ -4,7 +4,7 @@ 此示例节点用于 **4 台 Orbbec 相机** 的同步采集与时间戳验证。 它可用于验证多相机主从同步（Primary / Secondary Synced）模式下的帧对齐精度。 - +> **支持版本**： wrapper version 2.6.3 及以上。 --- ## 使用教程