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jj
2025-05-12 14:32:20 +08:00
parent fc45a4f745
commit b33c775741
4 changed files with 75 additions and 9 deletions
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docs/launch_parameters.md
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@@ -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**