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Update documentation to include supported versions for launch parameters, services, and network camera configurations

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ob-yalian
2026-03-23 14:00:14 +08:00
parent fa3a16597c
commit 6c9bf89af1
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+89 -77
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@@ -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`**
docs/en/source/camera_devices/4_application_guide/services.md
+12 -6
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@@ -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.