docs: add SDK bag recording and playback instructions to quickstart and services documentation

docs/en/source/camera_devices/3_quickstarts/quickstart.md

@@ -94,3 +94,33 @@ ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '
 ```bash
 ros2 bag record /camera/color/image_raw /camera/depth/image_raw
 ```
+
+#### Record and play back with SDK bag
+
+SDK bag recording uses the Orbbec SDK to record device data. It is useful when you want to restart the wrapper later with the recording as a playback device. Record when launching:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py bag_record_filename:=/tmp/orbbec_record.bag
+```
+
+You can also start or stop recording while the node is running:
+
+```bash
+ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: true, file_path: '/tmp/orbbec_record.bag'}"
+```
+
+```bash
+ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: false, file_path: ''}"
+```
+
+Play back an SDK bag:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py bag_filename:=/tmp/orbbec_record.bag
+```
+
+Loop playback:
+
+```bash
+ros2 launch orbbec_camera gemini_330_series.launch.py bag_filename:=/tmp/orbbec_record.bag bag_loop:=true
+```

docs/en/source/camera_devices/4_application_guide/launch_parameters.md

@@ -88,6 +88,12 @@ The following are the launch parameters available:
   * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`point_cloud_decimation_filter_factor`**
   * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
+* **`bag_record_filename`**
+  * Record device data to the specified SDK `.bag` file after startup. Leave empty to disable automatic recording. When recording starts, a JSON preset file with the same base name is also exported, for example `record.bag` creates `record.json`.
+* **`bag_filename`**
+  * Play back the specified SDK `.bag` file. When set, the node creates a playback device from the bag file instead of connecting to a physical camera.
+* **`bag_loop`**
+  * Loop SDK bag playback after the file reaches the end. Default: `false`. This only takes effect when `bag_filename` is set.
 
 ## Sensor Controls
 
@@ -175,6 +181,9 @@ The following are the launch parameters available:
     *   Enable the software trigger out signal / set the software trigger period in ms.
 *   **`frames_per_trigger`**
     *   The frame number of each stream after each trigger in triggering mode.
+*   **`sync_io_voltage_level`**
+    *   Set the sync IO voltage level. Default: `-1`, which means do not set it. This is only supported on devices that expose the property; it can also be changed at runtime with `/camera/set_sync_io_voltage_level`.
+    > **Supported Modules**: Gemini 305 series.
 
 ### Network Cameras
 * **`enumerate_net_device`**
@@ -310,8 +319,10 @@ The following are the launch parameters available:
     *   The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used. Some presets or special modes are configured through YAML. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md).
 *   **`load_config_json_file_path`**
     *   SDK JSON configuration import path. When set, the node imports the JSON configuration during initialization. For Gemini 330 series, use `gemini_330_series_sdk_json.launch.py` as the dedicated SDK JSON launch file.
+    *   If the JSON contains `application_config`, the node syncs stream enable states, resolution, frame rate, format, undistortion, point cloud, HDR merge, and device-level decimation from it when those values are not explicitly overridden by launch parameters.
 *   **`export_config_json_file_path`**
     *   SDK JSON configuration export path. When set, the node exports the current device configuration to JSON after initialization. You can also export at runtime with the `/camera/export_config_json` service.
+    *   Before export, the node syncs the current ROS sensor stream, point cloud, and HDR merge settings into the SDK `application_config` when the device supports it.
 *   **`frame_aggregate_mode`**
     *   Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
     *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.

docs/en/source/camera_devices/4_application_guide/services.md

@@ -157,6 +157,11 @@
     ```bash
     ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
     ```
+*   `/camera/get_device_config`
+    Get the currently effective device configuration state, such as preset, alignment mode, time domain, sync mode, and frame aggregate mode.
+    ```bash
+    ros2 service call /camera/get_device_config orbbec_camera_msgs/srv/GetDeviceConfig '{}'
+    ```
 *   `/camera/get_sdk_version`
     ```bash
     ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
@@ -165,6 +170,14 @@
     ```bash
     ros2 service call /camera/export_config_json orbbec_camera_msgs/srv/SetString "{data: '/tmp/orbbec_camera_config.json'}"
     ```
+*   `/camera/set_bag_recording`
+    Record current device data with SDK bag recording. `enable: true` starts recording and `enable: false` stops recording. When `file_path` is empty, the default file name is created in the current working directory.
+    ```bash
+    ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: true, file_path: '/tmp/orbbec_record.bag'}"
+    ```
+    ```bash
+    ros2 service call /camera/set_bag_recording orbbec_camera_msgs/srv/SetBagRecording "{enable: false, file_path: ''}"
+    ```
 *   `/camera/reboot_device`
     ```bash
     ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
@@ -190,6 +203,11 @@
     # Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
     ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
     ```
+*   `/camera/set_sync_io_voltage_level`
+    Set the sync IO voltage level. This is only supported on devices that expose the property.
+    ```bash
+    ros2 service call /camera/set_sync_io_voltage_level orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
+    ```
 
 ### Depth Filter Configuration