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docs: document ROS2 timestamp CSV outputs

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ob-yalian
2026-08-26 15:08:04 +08:00
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docs/en/source/camera_devices/6_benchmark/diagnostic_tools.md
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@@ -4,7 +4,7 @@ This section describes frame continuity, timestamp, topic statistics, end-to-end
## Frame Drop Log and Timestamp CSV Recording
After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node also records color and depth frame timestamp data to a CSV file for analyzing frame continuity, publish latency, and timestamp anomalies.
After `enable_frame_drop_log` is enabled, the camera node prints color and depth frame drop statistics in the log. This helps locate frame drops at the SDK receive stage and ROS publish stage. When `frame_timestamp_csv_file` is set, the camera node records timestamp data for color, depth, and enabled IMU streams to CSV files for analyzing frame continuity, publish latency, and timestamp anomalies. When frame synchronization (`enable_frame_sync:=true`) is enabled, color and depth timestamps are combined into one CSV file; otherwise, they are written to separate `<stem>_color.csv` and `<stem>_depth.csv` files. Synchronized accelerometer and gyroscope data are written to `<stem>_imu.csv`, while standalone accelerometer and gyroscope data are written to `<stem>_accel.csv` and `<stem>_gyro.csv`. All CSV files follow the same rotation rule.
```bash
ros2 launch orbbec_camera gemini_330_series.launch.py \