i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-08 22:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

docs: clarify default values for launch parameters in application guide

Browse Source
This commit is contained in:
ob-yalian
2026-07-20 16:23:43 +08:00
parent 45b3e1a5f0
commit a0820c27c3
2 changed files with 36 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
docs/en/source/camera_devices/4_application_guide/launch_parameters.md
+18 -16
View File
@@ -42,6 +42,8 @@ Launch parameters can be modified in two ways:
The following are the launch parameters available:
> **About defaults:** Device launch files may assign different defaults to the same parameter. A default is listed below only when it can be confirmed consistently. An empty value or `-1` usually means that the node does not actively change the device's current value.
## Core & Stream Configuration
* **`camera_name`**
@@ -81,13 +83,13 @@ The following are the launch parameters available:
* **`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"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
* Enable Color image transport plugins. The enabled list is determined by the device launch file. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
* **`depth.image_raw.enable_pub_plugins`**
* Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
* Enable Depth image transport plugins. The enabled list is determined by the device launch file. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
* **`left_ir.image_raw.enable_pub_plugins`**
* Enable Left 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.
* Enable Left IR image transport plugins. The enabled list is determined by the device launch file. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
* **`right_ir.image_raw.enable_pub_plugins`**
* 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.
* Enable Right IR image transport plugins. The enabled list is determined by the device launch file. 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`**
@@ -119,7 +121,7 @@ The following are the launch parameters available:
* **`color_brightness`**, **`color_sharpness`**, **`color_gamma`**, **`color_saturation`**, **`color_contrast`**, **`color_hue`**
* Set the Color brightness, sharpness, gamma, saturation, contrast, and hue.
* **`color_backlight_compensation`**
* Enables the color camera’s backlight compensation feature. **Range**: `0–6`, **Default**: `3`.
* Set the Color camera's backlight compensation level. Valid values are `0–6`; the launch default is `-1`, which leaves the current device value unchanged.
* **`color_powerline_freq`**
* Set the power line freq. The possible values are `disable`, `50hz`, `60hz`, `auto`.
* **`color_preset`**
@@ -143,7 +145,7 @@ The following are the launch parameters available:
* **`enable_depth_scale`**
* Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
* **`depth_precision`**
* The depth precision should be in the format `1mm`. The default value is `1mm`.
* Set the depth precision, using a value such as `1mm`. When the launch argument is empty, the node does not actively change the device's current depth precision.
* **`depth_work_mode`**
* Set the depth work mode. See [Depth Work Mode Switch](../5_advanced_guide/configuration/depth_work_mode_switch.md) for supported devices, mode query commands, and launch examples.
* **`depth_ae_roi_[left|right|top|bottom]`**
@@ -174,7 +176,7 @@ The following are the launch parameters available:
### Multi-Camera Synchronization
* **`sync_mode`**
* Set sync mode. The default value is `standalone`. See [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md) for multi-camera connection, synchronization modes, and trigger configuration.
* Set sync mode. The default is determined by the selected launch file. See [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md) for multi-camera connection, synchronization modes, and trigger configuration.
* **`depth_delay_us`** / **`color_delay_us`**
* The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
* **`trigger2image_delay_us`**
@@ -210,7 +212,7 @@ The following are the launch parameters available:
### Disparity
* **`disparity_to_depth_mode`**
* `HW`: use hardware disparity to depth conversion. `SW`: use software disparity to depth conversion. Use `disable` to turn it off.
* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
* This parameter is case-insensitive. Use one of the valid values listed above.
* **`disparity_range_mode`**, **`disparity_search_offset`**, **`disparity_offset_config`**
* Parameters for disparity search offset. Used for [disparity search offset](../5_advanced_guide/configuration/disparity_search_offset.md).
@@ -229,7 +231,7 @@ The following are the launch parameters available:
* Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
- **`align_mode`**
* The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
* This parameter is case-insensitive. Use one of the valid values listed above.
- **`align_target_stream`**
* Set align target stream mode.
* The possible values are `COLOR`, `DEPTH`.
@@ -237,7 +239,7 @@ The following are the launch parameters available:
* `DEPTH`: Align color to depth.
* This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
- **`intra_camera_sync_reference`**
- Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.
- Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When empty, the node leaves the device's current setting unchanged.
## Device-Specific Parameters
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
@@ -315,15 +317,15 @@ The following are the launch parameters available:
### Time Synchronization
* **`enable_sync_host_time`**
* Enable synchronization of the host time with the camera time. The default value is `true`. If using global time, set to `false`.
* Enable synchronization of the host time with the camera time. The default is determined by the device launch file; Gemini 330 series launch files, including Gemini 336L, default to `false`. Set it to `false` when using global time.
* **`time_domain`**
* Select timestamp type: `device`, `global`, and `system`.
* This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
* This parameter is case-insensitive. Use one of the valid values listed above.
* **`timestamp_clock_type`**
* Set the SDK timestamp clock type. Optional values: `realtime`, `monotonic`. The default is `realtime`.
* Set the SDK timestamp clock type. Optional values: `realtime`, `monotonic`. When the launch argument is empty, the node does not explicitly set the SDK clock type.
* **`time_sync_period`**
* Interval (in seconds) for synchronizing the camera time with the host system.
> **Note**: This parameter only needs to be set when `enable_sync_host_time = true` and `time_domain = device`.
> **Note**: This parameter takes effect only when `enable_sync_host_time = true` and `time_domain` is not `global`.
* **`enable_frame_sync`**
* Enable the frame synchronization.
@@ -334,7 +336,7 @@ The following are the launch parameters available:
### Logging & Diagnostics
* **`log_level`**
* Shared SDK and ROS node log level. By default, only current device status is printed; set it to `debug` for more debug logs. Optional values: `none`, `debug`, `info`, `warn`, `error`, `fatal`.
* Shared SDK and ROS node log level. The launch default is `info`; set it to `debug` for more debug logs. Optional values: `none`, `debug`, `info`, `warn`, `error`, `fatal`.
* SDK logs and crash files are saved to `~/.ros/Log` by default. ROS logs remain in `~/.ros/log`.
* **`log_file_name`**
* SDK log file name. When empty, the log file is named after the node startup time in the format `OrbbecSDK_<YYYYMMDD_HHMMSS>.log`. When specified, the resulting path is `~/.ros/Log/<camera_name>/<log_file_name>`.
@@ -356,7 +358,7 @@ The following are the launch parameters available:
* Before export, the node syncs the current ROS2 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.
* This parameter is case-insensitive. Use one of the valid values listed above.
* **`enable_d2c_viewer`**
* Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples.