deploy: 4d02cd129e

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

@@ -6,7 +6,6 @@
 
 ![module in rviz2](../image/application_guide/image1.png)
 
-
 ### ROS2 Robot Coordinate System vs Camera Optical Coordinate System
 
 * Point of View:
@@ -96,7 +95,7 @@ In rviz2:
 
 ### Camera TF Calculation and Publishing Mechanism
 
-#### Core Function: `OBCameraNode::calcAndPublishStaticTransform()`
+#### Core Function: [OBCameraNode::calcAndPublishStaticTransform()](https://github.com/orbbec/OrbbecSDK_ROS2/blob/166c35b4ea211c60265ca9b38b1b15519d1ea3dd/orbbec_camera/src/ob_camera_node.cpp#L3475)
 
 The camera node uses this function to calculate and publish all static transforms between sensors.
 
@@ -340,4 +339,3 @@ if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_)
 ```
 
 - Publishes raw extrinsics via topic for advanced alignment and registration
-

en/_sources/source/8_FAQ/FAQ.md.txt

@@ -33,4 +33,18 @@ If the camera node crashes unexpectedly, it will generate a crash log in the cur
 ### Why Are There So Many Launch Files?
 
 - Different cameras have varying default resolutions and image formats.
-- To simplify usage, each camera has its own launch file.
+- To simplify usage, each camera has its own launch file.
+
+### How to Launch a Specific Camera When Multiple Cameras Are Connected
+
+While the launch file did not explicitly specify which device to use. In that case, the driver will connect to the default device.
+
+You can check the serial number of your device by running:
+```bash
+ros2 run orbbec_camera list_devices_node
+```
+
+Then launch with the serial number explicitly set, for example:
+```bash
+ros2 launch orbbec_camera femto_bolt.launch.py serial_number:=CL8H741005J
+```