mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
synced 2026-10-04 12:07:46 +08:00
Update documentation to include supported versions for launch parameters, services, and network camera configurations
This commit is contained in:
ob-yalian
@@ -38,16 +38,21 @@ The following are the launch parameters available:
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* Enable filtering of invalid point clouds.
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* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`**
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* 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.
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* **`color.image_raw.enable_pub_plugins`**
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* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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* **`depth.image_raw.enable_pub_plugins`**
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* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
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* **`left_ir.image_raw.enable_pub_plugins`**
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* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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* **`right_ir.image_raw.enable_pub_plugins`**
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* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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* **`point_cloud_decimation_filter_factor`**
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* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
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* **`color.image_raw.enable_pub_plugins`**
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* Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`depth.image_raw.enable_pub_plugins`**
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* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`left_ir.image_raw.enable_pub_plugins`**
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* Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`right_ir.image_raw.enable_pub_plugins`**
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* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`point_cloud_decimation_filter_factor`**
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* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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### Sensor Controls
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@@ -81,12 +86,11 @@ The following are the launch parameters available:
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#### Depth Stream
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* **`enable_depth_auto_exposure_priority`**
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* Enable the Depth auto exposure priority.
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* **`mean_intensity_set_point`**
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* Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`.
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> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
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* **`enable_depth_auto_exposure_priority`**
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* Enable the Depth auto exposure priority.
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* **`mean_intensity_set_point`**
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* Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`.
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> **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.
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* **`enable_depth_scale`**
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* Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
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* **`depth_precision`**
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@@ -132,51 +136,56 @@ The following are the launch parameters available:
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> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
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#### Network Cameras
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* **`enumerate_net_device`**
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* Enable automatically enumerate network devices.
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* **`net_device_ip`** / **`net_device_port`**
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* Set net device's IP address and port (Usually `8090`).
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* **`force_ip_enable`**
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* Enable the Force IP function. **Default:** `false`
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* **`force_ip_mac`**
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* 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:** `""`
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* **`force_ip_address`**
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* Static IP address to assign. **Default:** `192.168.1.10`
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* **`force_ip_subnet_mask`**
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* Subnet mask for the static IP. **Default:** `255.255.255.0`
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* **`force_ip_gateway`**
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* Gateway address for the static IP. **Default:** `192.168.1.1`
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* **`enumerate_net_device`**
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* Enable automatically enumerate network devices.
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* **`net_device_ip`** / **`net_device_port`**
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* Set net device's IP address and port (Usually `8090`).
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* **`force_ip_enable`**
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* Enable the Force IP function. **Default:** `false`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_mac`**
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* 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:** `""`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_address`**
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* Static IP address to assign. **Default:** `192.168.1.10`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_subnet_mask`**
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* Subnet mask for the static IP. **Default:** `255.255.255.0`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* **`force_ip_gateway`**
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* Gateway address for the static IP. **Default:** `192.168.1.1`
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
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#### Device-Specific
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* **`preset_resolution_config`**
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* 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.
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> Only supported 435Le.
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>
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps.
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* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
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* Enable the gmsl trigger out signal / set gmsl trigger fps.
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> Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
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>
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
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> **Supported Modules**: Gemini 335Le
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> **Supported Versions**: Wrapper version 2.3.4 and above.
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* **`preset_resolution_config`**
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* 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.
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> **Supported Modules**: Gemini 435Le
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`ae_mode`**
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* `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **默认值：** `depthbased`
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> Only supports Gemini 305.
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>
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* `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **Default:** `depthbased`
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* **`enalbe_sports_mode`**
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* Whether to enable sports mode. **Default:** `false`
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> Only supports Gemini 305.
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>
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
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* Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
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> Only supports Gemini 305.
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>
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* **`enable_ptp_config`**
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* Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* **`enable_false_positive_filter`**
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* Enable this option to reduce ghosting noise.
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> **Supported Modules**: DaBaiA / DaBaiAL / Gemini345 / Gemini345Lg
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> **Supported Versions**: Wrapper version 2.7.6 and above; Firmware version 1.9.03 and above.
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#### Disparity
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* **`disparity_to_depth_mode`**
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* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion.
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@@ -205,20 +214,21 @@ The following are the launch parameters available:
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* `DEPTH`: Align color to depth.
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- **`intra_camera_sync_reference`**
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- 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.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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### Basic & General Parameters
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#### Firmware & Backend
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* **`upgrade_firmware`**
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* The input parameter is the firmware path.
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* **`preset_firmware_path`**
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* 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.
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* **`uvc_backend`**
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* Optional values: `v4l2`, `libuvc`.
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* **`connection_delay`**
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* 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.
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* **`retry_on_usb3_detection_failure`**
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* 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.
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* **`upgrade_firmware`**
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* The input parameter is the firmware path.
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* **`preset_firmware_path`**
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* 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.
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* **`uvc_backend`**
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* Optional values: `v4l2`, `libuvc`.
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* **`connection_delay`**
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* 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.
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* **`retry_on_usb3_detection_failure`**
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* 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.
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#### TF, Extrinsics & Calibration
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* **`publish_tf`** / **`tf_publish_rate`**
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@@ -231,26 +241,28 @@ The following are the launch parameters available:
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* Enable the Color undistortion.
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#### Time Synchronization
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* **`enable_sync_host_time`**
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* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* **`time_sync_period`**
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* **`enable_sync_host_time`**
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* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
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* **`time_domain`**
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* Select timestamp type: `device`, `global`, and `system`.
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* **`time_sync_period`**
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* Interval (in seconds) for synchronizing the camera time with the host system.
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> **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
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* **`enable_frame_sync`**
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* Enable the frame synchronization.
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* **`enable_frame_sync`**
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* Enable the frame synchronization.
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#### Logging & Diagnostics
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* **`log_level`**
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* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
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* **`log_level`**
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* SDK log level. Default is `info`. Optional values: `debug`, `info`, `warn`, `error`, `fatal`.
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* **`log_file_name`**
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* Saved SDK log file name. Effective when `log_level` is `debug`.
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* **`diagnostic_period`**
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* Diagnostic period in seconds.
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* **`enable_heartbeat`**
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* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
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* Saved SDK log file name. Effective when `log_level` is `debug`.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* **`diagnostic_period`**
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* Diagnostic period in seconds.
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* **`enable_heartbeat`**
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* Enable the heartbeat function. Default is `false`. If `true`, the camera node will send heartbeat signals to the firmware.
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#### Miscellaneous
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* **`config_file_path`**
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@@ -124,10 +124,11 @@
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```bash
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ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
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```
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`/camera/get_laser_status`
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* `/camera/get_laser_status`
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```bash
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ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* `/camera/set_ldp_enable` & `/camera/get_ldp_status`
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```bash
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ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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@@ -231,13 +232,13 @@
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#### Device-Specific
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**Gemini 435Le**
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* `/camera/write_customer_data` & `/camera/read_customer_data`
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```bash
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ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
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ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
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```
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> **Supported Modules**: Gemini 435Le
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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* `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
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```bash
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ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
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@@ -258,25 +259,30 @@
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-6.804073229432106e-06]}'
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ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
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```
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> **Supported Modules**: Gemini 435Le
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> **Supported Versions**: Wrapper version 2.5.4 and above.
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**Gemini 305**
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* `/camera/set_ae_mode`
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```bash
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# depthbased or colorbased
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ros2 service call /camera/set_ae_mode orbbec_camera_msgs/srv/SetString "data: depthbased"
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```
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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* `/camera/set_sports_mode`
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```bash
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ros2 service call /camera/set_sports_mode std_srvs/srv/SetBool "data: true"
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```
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> **Supported Modules**: Gemini 305
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> **Supported Versions**: Wrapper version 2.7.2 and above.
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### Point cloud decimation
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* `/camera/set_point_cloud_decimation`
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```bash
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ros2 service call /camera/set_point_cloud_decimation orbbec_camera_msgs/srv/SetInt32 '{data: 8}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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* `/camera/get_point_cloud_decimation`
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```bash
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ros2 service call /camera/get_point_cloud_decimation orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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@@ -49,6 +49,7 @@ ros2 launch orbbec_camera multi_net_camera.launch.py
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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.
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> **Note:** The IP settings applied with `set_device_ip` are **permanent** and **will not be reset** if the device is powered off or restarted.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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**Example Usage**
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@@ -74,6 +75,7 @@ ros2 run orbbec_camera set_device_ip --ros-args \
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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.
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> **Note:** The Force IP configuration **will be reset if the device is powered off or restarted**. You need to reapply the settings after reboot.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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**Parameters**
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+1
@@ -4,6 +4,7 @@
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This example node is designed for **synchronized capture and timestamp verification** across **four Orbbec cameras**.
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It can be used to validate frame alignment accuracy under the multi-camera **Primary / Secondary Synced** mode.
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> **Supported Versions**: Wrapper version 2.6.3 and above.
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---
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