From b2072a47b94989a8dfe867a8ce9e35d4ab9edae1 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Fri, 28 Nov 2025 16:38:35 +0800 Subject: [PATCH] Add image transport plugin parameters for color and IR streams in launch parameters --- .../source/4_application_guide/launch_parameters.md | 8 ++++++++ .../source/4_application_guide/launch_parameters.md | 13 ++++++++----- 2 files changed, 16 insertions(+), 5 deletions(-) diff --git a/docs/en/source/4_application_guide/launch_parameters.md b/docs/en/source/4_application_guide/launch_parameters.md index 1912ea5f..0fd5f530 100644 --- a/docs/en/source/4_application_guide/launch_parameters.md +++ b/docs/en/source/4_application_guide/launch_parameters.md @@ -33,6 +33,14 @@ The following are the launch parameters available: * Enable filtering of invalid point clouds. * **`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"]`. +* **`depth.image_raw.enable_pub_plugins`** + * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. +* **`left_ir.image_raw.enable_pub_plugins`** + * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. +* **`right_ir.image_raw.enable_pub_plugins`** + * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. ### Sensor Controls diff --git a/docs/zh/source/4_application_guide/launch_parameters.md b/docs/zh/source/4_application_guide/launch_parameters.md index f37a6086..749e1c7c 100644 --- a/docs/zh/source/4_application_guide/launch_parameters.md +++ b/docs/zh/source/4_application_guide/launch_parameters.md @@ -33,6 +33,14 @@ * 启用无效点云过滤。 * **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`** * ROS 2消息服务质量（QoS）设置。可能的值为 `SYSTEM_DEFAULT`、`DEFAULT`、`PARAMETER_EVENTS`、`SERVICES_DEFAULT`、`PARAMETERS`、`SENSOR_DATA`，不区分大小写。这些分别对应 `rmw_qos_profile_system_default`、`rmw_qos_profile_default`、`rmw_qos_profile_parameter_events`、`rmw_qos_profile_services_default`、`rmw_qos_profile_parameters` 和 `SENSOR_DATA`。 +* **`color.image_raw.enable_pub_plugins`** + * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 +* **`depth.image_raw.enable_pub_plugins`** + * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。 +* **`left_ir.image_raw.enable_pub_plugins`** + * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 +* **`right_ir.image_raw.enable_pub_plugins`** + * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。 ### 传感器控制 @@ -67,7 +75,6 @@ #### 深度流 * **`enable_depth_auto_exposure_priority`** - * 启用深度自动曝光优先级。 * **`mean_intensity_set_point`** * 设置深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。 @@ -124,16 +131,12 @@ * 设置网络设备的IP地址和端口（通常为 `8090`）。 * **`force_ip_enable`** * 启用强制IP功能。**默认值：** `false` - * **`force_ip_mac`** * 连接多个相机时的目标设备MAC地址（例如，`"54:14:FD:06:07:DA"`）。您可以使用 `list_devices_node` 查找每个设备的MAC。**默认值：** `""` - * **`force_ip_address`** * 要分配的静态IP地址。**默认值：** `192.168.1.10` - * **`force_ip_subnet_mask`** * 静态IP的子网掩码。**默认值：** `255.255.255.0` - * **`force_ip_gateway`** * 静态IP的网关地址。**默认值：** `192.168.1.1`