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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. * Enable filtering of invalid point clouds.
* **`point_cloud_qos`, `[stream]_qos`, `[stream]_camera_info_qos`** * **`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. * 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 ### Sensor Controls
docs/zh/source/4_application_guide/launch_parameters.md
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@@ -33,6 +33,14 @@
* 启用无效点云过滤。 * 启用无效点云过滤。
* **`point_cloud_qos`、`[stream]_qos`、`[stream]_camera_info_qos`** * **`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`。 * 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 ### 传感器控制
@@ -67,7 +75,6 @@
#### 深度流 #### 深度流
* **`enable_depth_auto_exposure_priority`** * **`enable_depth_auto_exposure_priority`**
* 启用深度自动曝光优先级。 * 启用深度自动曝光优先级。
* **`mean_intensity_set_point`** * **`mean_intensity_set_point`**
* 设置深度图像的目标平均强度。例如：`mean_intensity_set_point:=100`。 * 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`）。 * 设置网络设备的IP地址和端口（通常为 `8090`）。
* **`force_ip_enable`** * **`force_ip_enable`**
* 启用强制IP功能。**默认值：** `false` * 启用强制IP功能。**默认值：** `false`
* **`force_ip_mac`** * **`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：** `""` * 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`** * **`force_ip_address`**
* 要分配的静态IP地址。**默认值：** `192.168.1.10` * 要分配的静态IP地址。**默认值：** `192.168.1.10`
* **`force_ip_subnet_mask`** * **`force_ip_subnet_mask`**
* 静态IP的子网掩码。**默认值：** `255.255.255.0` * 静态IP的子网掩码。**默认值：** `255.255.255.0`
* **`force_ip_gateway`** * **`force_ip_gateway`**
* 静态IP的网关地址。**默认值：** `192.168.1.1` * 静态IP的网关地址。**默认值：** `192.168.1.1`