deploy: 1b6f872d5c

en/_sources/source/2_installation/build_the_package.md.txt

@@ -1,3 +1,30 @@
+### Binary Installation
+
+#### Environment
+
+Install ROS 2 according to the official guide:
+
+* [ROS 2 installation (Ubuntu)](https://docs.ros.org/en/humble/Installation/Ubuntu-Install-Debians.html)
+
+#### Linux Binary Package Installation
+
+Check available packages:
+
+```bash
+sudo apt update
+apt list | grep orbbec
+```
+
+Install OrbbecSDK ROS2 package:
+
+```bash
+sudo apt install ros-humble-orbbec-camera ros-humble-orbbec-description
+```
+
+After installation, you can use it directly without compilation.
+
+---
+
 ### Build from Source
 
 #### Environment
@@ -36,15 +63,8 @@ Install dependencies:
 sudo apt install libgflags-dev nlohmann-json3-dev \
 ros-$ROS_DISTRO-image-transport ros-${ROS_DISTRO}-image-transport-plugins ros-${ROS_DISTRO}-compressed-image-transport \
 ros-$ROS_DISTRO-image-publisher ros-$ROS_DISTRO-camera-info-manager \
-ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs \
-ros-$ROS_DISTRO-backward-ros libdw-dev
-```
-
-Optional dependencies:
-
-```bash
-# 435Le writeCustomerDate feature:
-sudo apt install libssl-dev
+ros-$ROS_DISTRO-diagnostic-updater ros-$ROS_DISTRO-diagnostic-msgs ros-$ROS_DISTRO-statistics-msgs ros-$ROS_DISTRO-xacro \
+ros-$ROS_DISTRO-backward-ros libdw-dev libssl-dev
 ```
 
 Build:

en/_sources/source/2_installation/registration_script.md.txt

@@ -1,6 +1,15 @@
-## Registration script (required)
+## Registration Script (Required)
 
-To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules:
+To allow the Orbbec cameras to be recognized correctly on Linux, install the udev rules.
+
+### Binary Installation
+
+```bash
+sudo cp /opt/ros/$ROS_DISTRO/share/orbbec_camera/udev/99-obsensor-libusb.rules /etc/udev/rules.d/
+sudo udevadm control --reload-rules && sudo udevadm trigger
+```
+
+### Build from Source
 
 ```bash
 cd  ~/ros2_ws/src/OrbbecSDK_ROS2/orbbec_camera/scripts

en/_sources/source/4_application_guide/coordinate_and_tf.md.txt

@@ -6,6 +6,18 @@
 
 ![module in rviz2](../image/application_guide/image1.png)
 
+### TF from coordinate A to coordinate B:
+
+In Orbbec cameras, the origin point (0,0,0) is taken from the camera_link position.
+
+You can view the camera's URDF model and coordinate system structure using the following command:
+
+```bash
+ros2 launch orbbec_description view_model.launch.py model:=gemini_335_336.urdf.xacro
+```
+
+![module in rviz2](../image/application_guide/image2.png)
+
 ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
 
 * Point of View:

en/_sources/source/4_application_guide/launch_parameters.md.txt

@@ -33,6 +33,14 @@ 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"]`.
 
 ### Sensor Controls
 

en/_sources/source/4_application_guide/services.md.txt

@@ -68,7 +68,7 @@
 
 #### IR Stream
 *   `/camera/toggle_ir`
-    
+
     ```bash
     ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
     ```
@@ -114,6 +114,10 @@
     ```bash
     ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
     ```
+    `/camera/get_laser_status`
+    ```bash
+    ros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'
+    ```
 *   `/camera/set_ldp_enable` & `/camera/get_ldp_status`
     ```bash
     ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'