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docs: document ROS2 GMSL device support

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ob-yalian
2026-08-26 14:17:29 +08:00
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -246,8 +246,7 @@ The following are the launch parameters available:
## Device-Specific Parameters
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set gmsl trigger fps.
> Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
* Enable the GMSL trigger output signal / set the GMSL trigger frame rate. Supported modules are Gemini 335Lg, 338Lg, 345Lg, and 305g; see [GMSL camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
>
* **`enable_ptp_config`**
* Enable PTP time synchronization. Requires `enable_sync_host_time` to be `false`.
docs/en/source/camera_devices/5_advanced_guide/multi_camera/gmsl_camera.md
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@@ -6,7 +6,7 @@ You can find example usage code in the [example](https://github.com/orbbec/Orbbe
## Single GMSL camera
The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB. ROS2 v2.10.1 supports Gemini 335Lg, Gemini 338Lg, Gemini 345Lg, and Gemini 305g.
```bash
ros2 launch orbbec_camera gemini_330_gmsl.launch.py
@@ -30,6 +30,8 @@ ros2 launch orbbec_camera multi_gmsl_camera.launch.py
> 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.
Use `gemini_330_gmsl.launch.py` for Gemini 335Lg / 338Lg, `gemini_301_series.launch.py` for Gemini 305g, and `gemini345_lg.launch.py` for Gemini 345Lg when composing a multi-camera launch.
## Multi GMSL camera synced
First, please see how to use [multi_camera_synced](./multi_camera_synced.md).