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Add image transport plugin parameters for color and IR streams in launch parameters

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ob-yalian
2025-11-28 16:38:35 +08:00
parent 80804e04f2
commit b2072a47b9
2 changed files with 16 additions and 5 deletions
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docs/en/source/4_application_guide/launch_parameters.md
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@@ -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