From bf13b012728e3bc3639ada37a40bc97d69b1b5cd Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Wed, 26 Aug 2026 11:48:12 +0800 Subject: [PATCH] docs: document ROS2 image QoS overrides --- .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ .../camera_devices/4_application_guide/launch_parameters.md | 3 +++ 2 files changed, 6 insertions(+) diff --git a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md index 99a789b9..c824384b 100644 --- a/docs/en/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/en/source/camera_devices/4_application_guide/launch_parameters.md @@ -82,6 +82,9 @@ 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. +* **`[stream]_qos_history`, `[stream]_qos_depth`** + * Override the image publisher History and Depth. Common parameters include `color_qos_history`, `color_qos_depth`, `depth_qos_history`, and `depth_qos_depth`; depending on the selected launch file, `stream` can also be `left_color`, `right_color`, `ir`, `left_ir`, or `right_ir`. + * `qos_history` accepts `DEFAULT`, `KEEP_LAST`, or `KEEP_ALL` (case-insensitive). The default is `default`, which keeps the history policy from `[stream]_qos`. `qos_depth` defaults to `-1`, which keeps the base QoS depth; a positive value overrides it. * **`color.image_raw.enable_pub_plugins`** * Enable Color image transport plugins. The enabled list is determined by the device launch file. See [Compressed Image](compressed_image.md) for subscribing to compressed images. * **`depth.image_raw.enable_pub_plugins`** diff --git a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md index 1cedc64b..af69516d 100644 --- a/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md +++ b/docs/zh/source/camera_devices/4_application_guide/launch_parameters.md @@ -82,6 +82,9 @@ * 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`。 +* **`[stream]_qos_history`、`[stream]_qos_depth`** + * 覆盖图像发布器的 History 和 Depth。常用参数包括 `color_qos_history`、`color_qos_depth`、`depth_qos_history` 和 `depth_qos_depth`；根据所使用的 launch 文件，`stream` 还可以是 `left_color`、`right_color`、`ir`、`left_ir` 或 `right_ir`。 + * `qos_history` 支持 `DEFAULT`、`KEEP_LAST` 和 `KEEP_ALL`（大小写不敏感）。默认值为 `default`，表示沿用 `[stream]_qos` 的 History 策略。`qos_depth` 默认为 `-1`，表示沿用基础 QoS 的 Depth；设置为正数时覆盖该值。 * **`color.image_raw.enable_pub_plugins`** * 启用彩色图像传输插件。具体启用列表由设备 launch 文件决定。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。 * **`depth.image_raw.enable_pub_plugins`**