From 72254ee03b24559dfdbcc74c0c084fd35756d06f Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 19 Nov 2025 15:19:36 +0800 Subject: [PATCH] Update GMSL camera documentation to include Gemini 345Lg support and correct sensor launch notes --- .../source/5_advanced_guide/multi_camera/gmsl_camera.md | 8 +++----- .../source/5_advanced_guide/multi_camera/gmsl_camera.md | 6 +++--- 2 files changed, 6 insertions(+), 8 deletions(-) diff --git a/docs/en/source/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/en/source/5_advanced_guide/multi_camera/gmsl_camera.md index 84940627..95a7c317 100644 --- a/docs/en/source/5_advanced_guide/multi_camera/gmsl_camera.md +++ b/docs/en/source/5_advanced_guide/multi_camera/gmsl_camera.md @@ -1,6 +1,6 @@ # GMSL_camera -> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future. +> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg and Gemini 345Lg, other GMSL devices will be supported in the near future. You can find example usage code in the [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples). @@ -28,7 +28,7 @@ Go to the [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2 ros2 launch orbbec_camera multi_gmsl_camera.launch.py ``` -> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them. +> Note: By default, multi_gmsl_camera.launch.py only starts color and depth. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them. ## Multi GMSL camera synced @@ -49,9 +49,7 @@ Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py ``` -> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them. - - +> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and depth. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them. ## Usage Limitations of GMSL Cameras diff --git a/docs/zh/source/5_advanced_guide/multi_camera/gmsl_camera.md b/docs/zh/source/5_advanced_guide/multi_camera/gmsl_camera.md index 030fa4a7..1ac84cdc 100644 --- a/docs/zh/source/5_advanced_guide/multi_camera/gmsl_camera.md +++ b/docs/zh/source/5_advanced_guide/multi_camera/gmsl_camera.md @@ -1,6 +1,6 @@ # GMSL 相机 -> 本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg GMSL 设备，其他 GMSL 设备将在不久的将来得到支持。 +> 本节介绍如何在 OrbbecSDK_ROS2 中使用 GMSL 相机。目前仅支持 Gemini 335Lg 和 Gemini 345Lg 设备，其他 GMSL 设备将在不久的将来得到支持。 您可以在 [example](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples) 中找到示例使用代码。 @@ -28,7 +28,7 @@ ros2 run orbbec_camera list_devices_node ros2 launch orbbec_camera multi_gmsl_camera.launch.py ``` -> 注意：默认情况下，multi_gmsl_camera.launch.py 仅启动 color 和 left_ir。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。 +> 注意：默认情况下，multi_gmsl_camera.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。 ## 多个 GMSL 相机同步 @@ -49,7 +49,7 @@ ros2 launch orbbec_camera multi_gmsl_camera.launch.py ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py ``` -> 注意：默认情况下，multi_gmsl_camera_synced.launch.py 仅启动 color 和 left_ir。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 和 [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) 进行修改。 +> 注意：默认情况下，multi_gmsl_camera_synced.launch.py 仅启动 color 和 depth。如果您想启动其他传感器，请转到 [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) 进行修改。 ## GMSL 相机的使用限制