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Update GMSL camera documentation to include Gemini 345Lg support and correct sensor launch notes

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ob-yalian
2025-11-19 15:19:36 +08:00
parent b9be9dffb0
commit 72254ee03b
2 changed files with 6 additions and 8 deletions
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docs/en/source/5_advanced_guide/multi_camera/gmsl_camera.md
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# GMSL_camera # 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). 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 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 ## 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 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 ## Usage Limitations of GMSL Cameras
docs/zh/source/5_advanced_guide/multi_camera/gmsl_camera.md
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# GMSL 相机 # 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。 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 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 ## 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 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 ## GMSL 相机的使用限制