diff --git a/README.MD b/README.MD index 62f7a02c..c7fa7271 100644 --- a/README.MD +++ b/README.MD @@ -21,7 +21,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): - Gemini 330 + Gemini 330 Gemini 335 Full maintenance Recommended for new designs @@ -61,6 +61,11 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x): Not supported Recommended for new designs + + Gemini 435Le + Not supported + Recommended for new designs + Gemini 2 Gemini 2 @@ -222,7 +227,7 @@ Currently, the following devices are supported by the OrbbecSDK ROS2 Wrapper v2- For optimal performance, we strongly recommend updating to the latest firmware version. This ensures that you benefit from the most recent enhancements and bug fixes. -| Product List | Minimal Firmware Version | **Launch File** | +| Product List | Minimal Firmware Version | **Launch File** | | :----------- | :----------------------- | :-------------------------- | | Gemini 330 | 1.2.20 | gemini_330_series.launch.py | | Gemini 330L | 1.2.20 | gemini_330_series.launch.py | @@ -232,11 +237,14 @@ For optimal performance, we strongly recommend updating to the latest firmware v | Gemini 336 | 1.2.20 | gemini_330_series.launch.py | | Gemini 336L | 1.2.20 | gemini_330_series.launch.py | | Gemini 335Le | 1.5.31 | gemini_330_series.launch.py | +| Gemini 435Le | / | gemini_330_series.launch.py | | Femto Bolt | 1.1.2 | femto_bolt.launch.py | | Femto Mega | 1.3.0 | femto_mega.launch.py | | Astra 2 | 2.8.20 | astra2.launch.py | | Gemini 2 L | 1.4.53 | gemini2L.launch.py | | Gemini 2 | 1.4.92 | gemini2.launch.py | +| DaBai A | / | dabai_a.launch.py | +| DaBai AL | / | dabai_al.launch.py | All launch files are essentially similar, with the primary difference being the default values of the parameters set for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance. @@ -422,7 +430,7 @@ Explanation of topic.Reference:[All available topics documentation](./docs/all_a ### Network device enumeration -When using Femto Mega and Gemini 335Le, you can use the network to connect the device. +When using Femto Mega, Gemini 335Le and Gemini 435Le, you can use the network to connect the device. **Femto Mega:** @@ -430,7 +438,7 @@ When using Femto Mega and Gemini 335Le, you can use the network to connect the d ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=true ``` -**Gemini 335Le:** +**Gemini 335Le & Gemini 435Le:** ```bash ros2 launch orbbec_camera gemini_330_series.launch.py enumerate_net_device:=true diff --git a/docs/all_available_service_for_camera_control.md b/docs/all_available_service_for_camera_control.md index 00b9693b..68953282 100644 --- a/docs/all_available_service_for_camera_control.md +++ b/docs/all_available_service_for_camera_control.md @@ -45,10 +45,21 @@ ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{da * `/camera/set_color_mirror` ```bash -#v2 version is not supported yet ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}' ``` +* `/camera/set_color_flip` + +```bash +ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}' +``` + +* `/camera/set_color_rotation` + +```bash +ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}' +``` + * `/camera/toggle_color` ```bash @@ -82,7 +93,6 @@ ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: t * `/camera/set_depth_gain` ```bash -#v2 version is not supported yet ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}' ``` @@ -99,6 +109,18 @@ ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{da ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}' ``` +* `/camera/set_depth_flip` + +```bash +ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}' +``` + +* `/camera/set_depth_rotation` + +```bash +ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}' +``` + * `/camera/toggle_depth` ```bash @@ -144,10 +166,21 @@ ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64 * `/camera/set_ir_mirror` ```bash -#v2 version is not supported yet ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}' ``` +* `/camera/set_ir_flip` + +```bash +ros2 service call /camera/set_ir_flip std_srvs/srv/SetBool '{data: true}' +``` + +* `/camera/set_ir_rotation` + +```bash +ros2 service call /camera/set_ir_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}' +``` + * `/camera/switch_ir` ```bash diff --git a/docs/launch_parameters.md b/docs/launch_parameters.md index f404f35f..ed5c6f3f 100644 --- a/docs/launch_parameters.md +++ b/docs/launch_parameters.md @@ -14,6 +14,8 @@ The following are the launch parameters available: * The USB port of the camera. This is required when multiple cameras are used * **device_num** * The number of devices. This must be filled in if multiple cameras are required +* **upgrade_firmware** + * The input parameter is the firmware path * **preset_firmware_path** * The input parameter is the perset firmware path. If multiple paths are input, each path needs to be separated by `,`and a maximum of 3 firmware paths can be input * **uvc_backend** @@ -22,6 +24,13 @@ The following are the launch parameters available: * 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_ae_roi_[left|right|top|bottom],depth_ae_roi_[left|right|top|bottom]** * Set Color and Depth auto exposure ROI. +* **[color|depth|left_ir|right_ir|ir]_rotation** + * Set stream image rotation + * The possible values are `0`,`90`,`180`,`270` +* **[color|depth|left_ir|right_ir|ir]_flip** + * Enable the stream image flip +* **[color|depth|left_ir|right_ir|ir]_mirror** + * Enable the stream image mirror * **enable_point_cloud** * Enable the point cloud * **enable_colored_point_cloud** @@ -60,6 +69,9 @@ The following are the launch parameters available: * Set the Color hue * **enable_color_backlight_compenstation** * Enable the Color backlight compenstation +* **color_powerline_freq** + * Set the power line freq + * The possible values are `disable`,`50hz`,`60hz`,`auto` * **enable_color_decimation_filter** * Enable the Color decimation filter * **color_decimation_filter_scale** @@ -82,12 +94,16 @@ The following are the launch parameters available: * Enable the sync accel_gyro,and output IMU topic real-time data * **enable_accel** * Enable the Accelerometer,and output Accelerometer info topic data +* **enable_accel_data_correction** + * Enable the Accelerometer data correction * **accel_rate** * The frequency of the accelerometer, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz` * **accel_range** * The range of the accelerometer, the optional values are `2g`, `4g`, `8g`, `16g`. The specific value depends on the current camera * **enable_gyro** * Enable the gyroscope,and output gyroscope info topic data +* **enable_gyro_data_correction** + * Enable the gyroscope data correction * **gyro_rate** * The frequency of the gyroscope, the optional values are `1.5625hz`, `3.125hz`, `6.25hz`, `12.5hz`, `25hz`, `50hz`, `100hz`, `200hz`, `500hz`, `1khz`, `2khz`, `4khz`, `8khz`, `16khz`, `32khz`.The specific value depends on the current camera * **gyro_range** @@ -139,6 +155,10 @@ The following are the launch parameters available: * The frame number of each stream after each trigger in triggering mode,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) * **software_trigger_period** * Software trigger period in ms,this parameter is usually used [multi camera synced](../orbbec_camera/examples/multi_camera_synced/README.MD) +* **enable_ptp_config** + * Enable PTP time synchronization + * Only for Gemini 335Le + * Note: To enable PTP time synchronization, you must set the **enable_sync_host_time** parameter to `false`. * **enable_frame_sync** * Enable the frame synchronization * **ordered_pc** @@ -165,6 +185,11 @@ The following are the launch parameters available: * Enable the Depth hole filling filter.The Depth hole filling filter setting parameter is `hole_filling_filter_mode` * **align_mode** * The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment +* **align_target_stream** + * Set align target stream mode + * The possible values are `COLOR`,`DEPTH` + * `COLOR`:Align depth to color + * `DEPTH`:Align color to depth * **diagnostic_period** * Diagnostic period in seconds * **enable_laser** diff --git a/orbbec_camera/examples/net_camera/README.MD b/orbbec_camera/examples/net_camera/README.MD index e82bf154..6103b807 100644 --- a/orbbec_camera/examples/net_camera/README.MD +++ b/orbbec_camera/examples/net_camera/README.MD @@ -1,6 +1,6 @@ # Net_camera -> This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega and Gemini 335Le devices are supported, and other Net devices will be supported in the near future. +> This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future. ## Femto Mega @@ -32,7 +32,7 @@ Note: `net_device_ip` needs to be changed to the IP address of the device, here ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_device_ip:=192.168.1.10 net_device_port:=8090 ``` -## Gemini 335Le +## Gemini 335Le & Gemini 435Le Network device settings: `enumerate_net_device` must be set to true, set `net_device_ip` to the IP address of the device, and set `net_device_port` to the default value of 8090.