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@@ -294,17 +294,12 @@
</li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/benchmark_data.html">6.3. 性能基准测试数据</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id2">6.3.1. 通用基准测试数据</a></li>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/benchmark_data.html#id3">6.3.2. 服务基准测试数据</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.4. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.4.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.4.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.4.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.4.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.4.1.4. 输出数据文件</a></li>
<li class="toctree-l3"><a class="reference internal" href="../6_benchmark/othertools.html">6.3. 其他工具</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../6_benchmark/othertools.html#ob-benchmark">6.3.1. Ob_benchmark 工具</a><ul>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#start-benchmark-params-json">6.3.1.1. 工具配置 (start_benchmark_params.json)</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id2">6.3.1.2. 相机配置（启动文件）</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id3">6.3.1.3. 运行 ob_benchmark 工具</a></li>
<li class="toctree-l5"><a class="reference internal" href="../6_benchmark/othertools.html#id4">6.3.1.4. 输出数据文件</a></li>
</ul>
</li>
</ul>
@@ -574,10 +569,14 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_laser_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
</pre></div>
</div>
<p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_laser_status</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_laser_status<span class="w"> </span>orbbec_camera_msgs/srv/GetBool<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ldp_enable</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_ldp_status</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ldp_enable<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s1">&#39;{data: true}&#39;</span>
@@ -706,13 +705,16 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
</section>
<section id="id12">
<h2><span class="section-number">4.2.7. </span>特定设备<a class="headerlink" href="#id12" title="链接到此标题。"></a></h2>
<p><strong>Gemini 435L</strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/write_customer_data</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/read_customer_data</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/write_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s1">&#39;{data: &quot;string&quot;}&#39;</span>
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/read_customer_data<span class="w"> </span>orbbec_camera_msgs/srv/GetString<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 435Le。
<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_user_calib_params</span></code> &amp; <code class="docutils literal notranslate"><span class="pre">/camera/get_user_calib_params</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/SetUserCalibParams<span class="w"> </span><span class="se">\</span>
@@ -734,20 +736,29 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_user_calib_params<span class="w"> </span>orbbec_camera_msgs/srv/GetUserCalibParams<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 435Le。
<strong>支持版本</strong>： wrapper version 2.5.4 及以上。</p>
</div></blockquote>
</li>
</ul>
<p><strong>Gemini 305</strong></p>
<ul>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_ae_mode</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span><span class="c1"># depthbased or colorbased</span>
<span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_ae_mode<span class="w"> </span>orbbec_camera_msgs/srv/SetString<span class="w"> </span><span class="s2">&quot;data: depthbased&quot;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/set_sports_mode</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span><span class="w"> </span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_sports_mode<span class="w"> </span>std_srvs/srv/SetBool<span class="w"> </span><span class="s2">&quot;data: true&quot;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持模组</strong>：Gemini 305。
<strong>支持版本</strong>： wrapper version 2.7.2 及以上。</p>
</div></blockquote>
</li>
</ul>
</section>
@@ -758,11 +769,17 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/set_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/SetInt32<span class="w"> </span><span class="s1">&#39;{data: 8}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
<li><p><code class="docutils literal notranslate"><span class="pre">/camera/get_point_cloud_decimation</span></code></p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w"> </span>/camera/get_point_cloud_decimation<span class="w"> </span>orbbec_camera_msgs/srv/GetInt32<span class="w"> </span><span class="s1">&#39;{}&#39;</span>
</pre></div>
</div>
<blockquote>
<div><p><strong>支持版本</strong>： wrapper version 2.6.3 及以上。</p>
</div></blockquote>
</li>
</ul>
</section>
@@ -780,7 +797,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">
<div role="contentinfo">
<p>&#169; 版权所有 2025, 奥比中光科技集团股份有限公司 www.orbbec.com.。
<span class="lastupdated">最后更新于 2026年02月05日 09:12:35.
<span class="lastupdated">最后更新于 2026年03月24日 07:49:12.
</span></p>
</div>