docs: enhance launch parameters documentation with detailed usage examples and references

2026-09-12 19:20:20 +08:00 · 2026-06-08 11:13:44 +08:00
parent 2fbe99b8bc
commit ccf1e88164
2 changed files with 122 additions and 57 deletions
@@ -1,6 +1,38 @@
 # Launch parameters

-> If you are not sure how to set the parameters, you can connect the orbbec camera and open the [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases).
+> If you are not sure how to set the parameters, connect the Orbbec camera and open [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases), or refer to the [camera datasheet](../1_overview/introduction.md) in Chapter 1.
+
+## How to modify launch parameters
+
+Launch parameters can be modified in two ways:
+
+1. **Override parameters in the launch command**
+
+   This is recommended for debugging, testing a parameter, or applying a setting only for the current launch. Use the format `parameter_name:=parameter_value`. You can append multiple parameters to the same command.
+
+   ```bash
+   ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02
+   ```
+
+   Example: change the camera name and enable point cloud output at the same time.
+
+   ```bash
+   ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 enable_point_cloud:=true
+   ```
+
+2. **Modify the default value in a launch file**
+
+   This is useful when you want a setting to become a long-term default, such as a fixed resolution, frame rate, camera name, or synchronization mode. Device launch files are located in [orbbec_camera/launch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch). Choose the `*.launch.py` file that matches your camera model.
+
+   If you build from source and do not use `--symlink-install`, you usually need to rebuild the workspace and source it again after modifying a launch file:
+
+   ```bash
+   cd ~/ros2_ws
+   colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
+   source install/setup.bash
+   ```
+
+   If you use `--symlink-install`, restarting the launch file is usually enough. If you installed with apt/deb, it is not recommended to edit files in the system installation directory directly. Prefer command-line parameter overrides, or copy the launch file and maintain your own launch configuration.

 The following are the launch parameters available:

@@ -9,18 +41,20 @@ The following are the launch parameters available:
 *   **`camera_name`**
    *   Start the node namespace.
 *   **`serial_number`**
-    *   The serial number of the camera. This is required when multiple cameras are used.
+    *   The serial number of the camera. This is required when multiple cameras are used. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup.
 *   **`usb_port`**
-    *   The USB port of the camera. This is required when multiple cameras are used.
+    *   The USB port of the camera. This is required when multiple cameras are used. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup.
 *   **`device_num`**
-    *   The number of devices. This must be filled in if multiple cameras are required.
+    *   The number of devices. This must be filled in if multiple cameras are required. See [multi camera](../5_advanced_guide/multi_camera/multi_camera.md) for multi-camera startup.
 * **`device_preset`**
-    * The default value is determined by the launch file. You can use the following command to view the configurable modes; the tool also prints the preset list and preset version information.
+    * The default value is determined by the launch file. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md) for available presets and recommended scenarios. You can use the following command to view the configurable modes; the tool also prints the preset list and preset version information.
    ```bash
    ros2 run orbbec_camera list_camera_profile_mode_node
    ```
 *   **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
    *   The resolution and frame rate of the sensor stream.
+    *   For Femto Mega / Femto Bolt, depth NFOV and WFOV modes are configured by combining depth and IR resolutions. See [Configuration of depth NFOV and WFOV modes](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md).
+    *   For lower CPU usage, see the `color_format` recommendations in [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md).
 *   **`[color|depth|left_ir|right_ir|ir]_rotation`**
    *   Set stream image rotation.
    *   The possible values are `0`, `90`, `180`, `270`.
@@ -29,9 +63,9 @@ The following are the launch parameters available:
 *   **`[color|depth|left_ir|right_ir|ir]_mirror`**
    *   Enable the stream image mirror.
 *   **`enable_point_cloud`**
-    *   Enable the point cloud.
+    *   Enable the point cloud. See [Point Cloud](point_cloud.md) for usage and RViz2 visualization.
 *   **`enable_colored_point_cloud`**
-    *   Enable the RGB point cloud.
+    *   Enable the RGB point cloud. See [Point Cloud](point_cloud.md) for usage and RViz2 visualization.
 *   **`cloud_frame_id`**
    *   Modify the `frame_id` name within the ros message.
 *   **`ordered_pc`**
@@ -39,13 +73,13 @@ The following are the launch parameters available:
 *   **`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"]`.
+  * Enable Color image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`depth.image_raw.enable_pub_plugins`**
-  * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`.
+  * Enable Depth image transport plugins. Default: `["image_transport/compressedDepth", "image_transport/raw"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`left_ir.image_raw.enable_pub_plugins`**
-  * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+  * Enable Left IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`right_ir.image_raw.enable_pub_plugins`**
-  * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
+  * Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`. See [Compressed Image](compressed_image.md) for subscribing to compressed images.
 * **`point_cloud_decimation_filter_factor`**
  * Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.

@@ -96,6 +130,8 @@ The following are the launch parameters available:
    *   Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
 *   **`depth_precision`**
    *   The depth precision should be in the format `1mm`. The default value is `1mm`.
+*   **`depth_work_mode`**
+    *   Set the depth work mode. See [Depth Work Mode Switch](../5_advanced_guide/configuration/depth_work_mode_switch.md) for supported devices, mode query commands, and launch examples.
 *   **`depth_ae_roi_[left|right|top|bottom]`**
    *   Set Depth auto exposure ROI.

@@ -120,7 +156,7 @@ The following are the launch parameters available:

 #### Multi-Camera Synchronization
 *   **`sync_mode`**
-    *   Set sync mode. The default value is `standalone`.
+    *   Set sync mode. The default value is `standalone`. See [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md) for multi-camera connection, synchronization modes, and trigger configuration.
 *   **`depth_delay_us`** / **`color_delay_us`**
    *   The delay time (microseconds) of the depth/color image capture after receiving the capture command or trigger signal.
 *   **`trigger2image_delay_us`**
@@ -134,13 +170,11 @@ The following are the launch parameters available:
 *   **`frames_per_trigger`**
    *   The frame number of each stream after each trigger in triggering mode.

-> Used for [multi camera synced](../5_advanced_guide/multi_camera/multi_camera_synced.md).
-
 #### Network Cameras
 * **`enumerate_net_device`**
-  * Enable automatically enumerate network devices.
+  * Enable automatically enumerate network devices. See [net camera](../5_advanced_guide/configuration/net_camera.md) for network camera startup, specified IP startup, and Force IP configuration.
 * **`net_device_ip`** / **`net_device_port`**
-  * Set net device's IP address and port (Usually `8090`).
+  * Set net device's IP address and port (usually `8090`). See [net camera](../5_advanced_guide/configuration/net_camera.md) for network camera startup, specified IP startup, and Force IP configuration.
 * **`force_ip_enable`**
  * Enable the Force IP function. **Default:** `false`
 * **`force_ip_mac`**
@@ -151,7 +185,6 @@ The following are the launch parameters available:
  * Subnet mask for the static IP. **Default:** `255.255.255.0`
 * **`force_ip_gateway`**
  * Gateway address for the static IP. **Default:** `192.168.1.1`
-> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).

 #### Device-Specific
 * **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
@@ -197,7 +230,7 @@ The following are the launch parameters available:
 #### Intra-Camera Synchronization

 - **`depth_registration`**
-  *   Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`.
+  *   Enable alignment of the depth frame to the color frame. This field is required when the `enable_colored_point_cloud` is set to `true`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
 - **`align_mode`**
  *   The alignment mode to be used. Options are `HW` for hardware alignment and `SW` for software alignment.
  *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
@@ -206,7 +239,7 @@ The following are the launch parameters available:
  *   The possible values are `COLOR`, `DEPTH`.
  *   `COLOR`: Align depth to color.
  *   `DEPTH`: Align color to depth.
-  *   This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`.
+  *   This parameter is case-insensitive. Hardware D2C only supports `COLOR` as the target stream; use `align_mode:=SW` if you need to align to `DEPTH`. See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for startup and viewing examples.
 - **`intra_camera_sync_reference`**
  - Sets the reference point for intra-camera synchronization. Applicable for Gemini 330 series devices when `sync_mode` is set to **software** or **hardware trigger** mode. **Options:** `Start`, `Middle`, `End`. When set to empty, the long baseline device defaults to End, and the short baseline device defaults to Middle.

@@ -214,11 +247,11 @@ The following are the launch parameters available:

 #### Firmware & Backend
 * **`upgrade_firmware`**
-  * The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates.
+  * The input parameter is the firmware path. For new versions, use the standalone `firmware_update_tool` for firmware updates. See [firmware_update_tool](../5_advanced_guide/configuration/firmware_update_tool.md).
 * **`preset_firmware_path`**
-  * The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input.
+  * The input parameter is the preset firmware path. If multiple paths are input, each path needs to be separated by `,` and a maximum of 3 firmware paths can be input. For new versions, use the standalone tool to burn presets. See [firmware_update_tool](../5_advanced_guide/configuration/firmware_update_tool.md).
 * **`uvc_backend`**
-  * Optional values: `v4l2`, `libuvc`.
+  * Optional values: `v4l2`, `libuvc`. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU scenarios.
 * **`connection_delay`**
  * The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging.
 * **`retry_on_usb3_detection_failure`**
@@ -226,7 +259,7 @@ The following are the launch parameters available:

 #### TF, Extrinsics & Calibration
 *   **`publish_tf`** / **`tf_publish_rate`**
-    *   Enable the TF publish and set its publication rate.
+    *   Enable the TF publish and set its publication rate. See [Coordinate Systems and TF Transforms](coordinate_and_tf.md) for coordinate systems, TF tree inspection, and visualization.
 *   **`enable_publish_extrinsic`**
    *   Enable the extrinsics publish.
 *   **`ir_info_url`** / **`color_info_url`**
@@ -268,7 +301,7 @@ The following are the launch parameters available:

 #### Miscellaneous
 *   **`config_file_path`**
-    *   The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used.
+    *   The path to the YAML configuration file. Default is `""`. If not specified, default parameters from the launch file will be used. Some presets or special modes are configured through YAML. See [predefined presets](../5_advanced_guide/configuration/predefined_presets.md).
 *   **`load_config_json_file_path`**
    *   SDK JSON configuration import path. When set, the node imports the JSON configuration during initialization. For Gemini 330 series, use `gemini_330_series_sdk_json.launch.py` as the dedicated SDK JSON launch file.
 *   **`export_config_json_file_path`**
@@ -277,7 +310,7 @@ The following are the launch parameters available:
    *   Set frame aggregate output mode. Optional values: `full_frame`, `color_frame`, `ANY`, `disable`.
    *   This parameter is case-insensitive. Invalid values are reported and replaced with the default value.
 *   **`enable_d2c_viewer`**
-    *   Publishes the D2C overlay image (for testing only).
+    *   Publishes the D2C overlay image (for testing only). See [Aligning Depth to Color](../5_advanced_guide/configuration/align_depth_color.md) for examples.

 ### IMU

@@ -305,11 +338,11 @@ The following are the launch parameters available:
 *   **`enable_threshold_filter`**
    *   Enable the Depth threshold filter. Set with `threshold_filter_max`, `threshold_filter_min`.
 *   **`enable_hardware_noise_removal_filter`**
-    *   Enable the Depth hardware noise removal filter.
+    *   Enable the Depth hardware noise removal filter. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_noise_removal_filter`**
-    *   Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc.
+    *   Enable the Depth software noise removal filter. Set with `noise_removal_filter_min_diff`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_spatial_filter`**
-    *   Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc.
+    *   Enable the Depth spatial filter. Set with `spatial_filter_alpha`, etc. See [Lower CPU Usage](../5_advanced_guide/performance/lower_cpu_usage.md) for low-CPU configuration recommendations.
 *   **`enable_temporal_filter`**
    *   Enable the Depth temporal filter. Set with `temporal_filter_diff_threshold`, etc.
 *   **`enable_hole_filling_filter`**
@@ -1,6 +1,38 @@
 # 启动参数

-> 如果您不确定如何设置参数，可以连接orbbec相机并打开 [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases)。
+> 如果您不确定如何设置参数，可以连接 Orbbec 相机并打开 [OrbbecViewer](https://github.com/orbbec/OrbbecSDK/releases)，也可以查看第 1 章中的 [设备规格书](../1_overview/introduction.md)。
+
+## 如何修改启动参数
+
+启动参数可以通过两种方式修改：
+
+1. **在启动命令中临时覆盖参数**
+
+   适合调试、验证某个参数或只在本次启动中生效的场景。格式为 `参数名:=参数值`，可以在同一条命令中追加多个参数。
+
+   ```bash
+   ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02
+   ```
+
+   示例：同时修改相机名称并启用点云。
+
+   ```bash
+   ros2 launch orbbec_camera gemini_330_series.launch.py camera_name:=camera_02 enable_point_cloud:=true
+   ```
+
+2. **在 launch 文件中修改默认值**
+
+   适合将参数作为长期默认配置使用，例如团队固定使用某个分辨率、帧率、相机名称或同步模式。各设备的 launch 文件位于 [orbbec_camera/launch](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch)，请选择与设备型号对应的 `*.launch.py` 文件。
+
+   如果您是从源码构建并且没有使用 `--symlink-install`，修改 launch 文件后通常需要回到工作空间重新编译并重新 source：
+
+   ```bash
+   cd ~/ros2_ws
+   colcon build --event-handlers console_direct+ --cmake-args -DCMAKE_BUILD_TYPE=Release
+   source install/setup.bash
+   ```
+
+   如果使用 `--symlink-install`，通常重新启动 launch 即可生效。若使用 apt/deb 安装，不建议直接修改系统安装目录中的 launch 文件；建议优先使用命令行覆盖参数，或复制 launch 文件后维护自己的启动配置。

 以下是可用的启动参数：

@@ -9,18 +41,20 @@
 *   **`camera_name`**
    *   启动节点的命名空间。
 *   **`serial_number`**
-    *   相机的序列号。当使用多个相机时需要此参数。
+    *   相机的序列号。当使用多个相机时需要此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。
 *   **`usb_port`**
-    *   相机的USB端口。当使用多个相机时需要此参数。
+    *   相机的USB端口。当使用多个相机时需要此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。
 *   **`device_num`**
-    *   设备数量。如果需要多个相机，必须填写此参数。
+    *   设备数量。如果需要多个相机，必须填写此参数。多相机启动方式参考 [多相机](../5_advanced_guide/multi_camera/multi_camera.md)。
 *   **`device_preset`**
-    *   默认值由启动文件决定。可以使用下面命令查看可设置模式；该工具会同时打印 preset 列表和 preset 版本信息。
+    *   默认值由启动文件决定。可选 preset 和推荐场景请参考 [设备预设](../5_advanced_guide/configuration/predefined_presets.md)。可以使用下面命令查看可设置模式；该工具会同时打印 preset 列表和 preset 版本信息。
    ```bash
    ros2 run orbbec_camera list_camera_profile_mode_node
    ```
 *   **`[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]`**
    *   传感器流的分辨率和帧率。
+    *   Femto Mega / Femto Bolt 的深度 NFOV、WFOV 模式通过深度和 IR 分辨率组合配置，参考 [深度 NFOV 和 WFOV 模式配置](../5_advanced_guide/configuration/configuration_of_depth_NFOV_and_WFOV_modes.md)。
+    *   如需降低 CPU 使用率，可参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md) 中的 `color_format` 建议。
 *   **`[color|depth|left_ir|right_ir|ir]_rotation`**
    *   设置流图像旋转。
    *   可能的值为 `0`、`90`、`180`、`270`。
@@ -29,9 +63,9 @@
 *   **`[color|depth|left_ir|right_ir|ir]_mirror`**
    *   启用流图像镜像。
 *   **`enable_point_cloud`**
-    *   启用点云。
+    *   启用点云。使用和 RViz2 可视化方法参考 [点云](point_cloud.md)。
 *   **`enable_colored_point_cloud`**
-    *   启用RGB点云。
+    *   启用RGB点云。使用和 RViz2 可视化方法参考 [点云](point_cloud.md)。
 *   **`cloud_frame_id`**
    *   修改ros消息中的 `frame_id` 名称。
 *   **`ordered_pc`**
@@ -39,13 +73,13 @@
 *   **`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`。
 * **`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"]`。
+  * 启用彩色图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。
 * **`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"]`。
+  * 启用深度图像传输插件。默认值：`["image_transport/compressedDepth", "image_transport/raw"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。
 * **`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"]`。
+  * 启用左红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。
 * **`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"]`。
+  * 启用右红外图像传输插件。默认值：`["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`。压缩图像订阅方法参考 [压缩图像](compressed_image.md)。
 * **`point_cloud_decimation_filter_factor`**
  * 点云下采样因子。范围：`1–8`，`1`表示不下采样，数值越大下采样倍数越大。

@@ -96,6 +130,8 @@
    *   设置D2C后是否启用深度缩放。`true`表示启用，默认为`true`。
 *   **`depth_precision`**
    *   深度精度应为 `1mm` 格式。默认值为 `1mm`。
+*   **`depth_work_mode`**
+    *   设置深度工作模式。支持的设备、模式列表查看命令和启动示例参考 [深度工作模式切换](../5_advanced_guide/configuration/depth_work_mode_switch.md)。
 *   **`depth_ae_roi_[left|right|top|bottom]`**
    *   设置深度自动曝光ROI。

@@ -121,7 +157,7 @@

 #### 多相机同步
 *   **`sync_mode`**
-    *   设置同步模式。默认值为 `standalone`。
+    *   设置同步模式。默认值为 `standalone`。多相机连接、同步模式和触发配置参考 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。
 *   **`depth_delay_us`** / **`color_delay_us`**
    *   接收捕获命令或触发信号后深度/彩色图像捕获的延迟时间（微秒）。
 *   **`trigger2image_delay_us`**
@@ -135,13 +171,11 @@
 *   **`frames_per_trigger`**
    *   触发模式下每次触发后每个流的帧数。

-> 用于 [多相机同步](../5_advanced_guide/multi_camera/multi_camera_synced.md)。
-
 #### 网络相机
 * **`enumerate_net_device`**
-  * 启用自动枚举网络设备。
+  * 启用自动枚举网络设备。网络相机启动、指定 IP 和 Force IP 配置参考 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
 * **`net_device_ip`** / **`net_device_port`**
-  * 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`）。网络相机启动、指定 IP 和 Force IP 配置参考 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
 * **`force_ip_enable`**
  * 启用强制IP功能。**默认值：** `false`
 * **`force_ip_mac`**
@@ -153,8 +187,6 @@
 * **`force_ip_gateway`**
  * 静态IP的网关地址。**默认值：** `192.168.1.1`

-> 用于 [网络相机](../5_advanced_guide/configuration/net_camera.md)。
-
 #### 设备特定
 *   **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
    *   启用gmsl触发输出信号 / 设置gmsl触发fps。用于 [gmsl相机](../5_advanced_guide/multi_camera/gmsl_camera.md)。
@@ -198,7 +230,7 @@
 #### 相机内同步

 - **`depth_registration`**
-  *   启用深度帧与彩色帧的对齐。当 `enable_colored_point_cloud` 设置为 `true` 时需要此字段。
+  *   启用深度帧与彩色帧的对齐。当 `enable_colored_point_cloud` 设置为 `true` 时需要此字段。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。
 - **`align_mode`**
  *   要使用的对齐模式。选项为 `HW`（硬件对齐）和 `SW`（软件对齐）。
  *   该参数大小写不敏感；非法值会报错并回退默认值。
@@ -207,7 +239,7 @@
  *   可能的值为 `COLOR`、`DEPTH`。
  *   `COLOR`：将深度对齐到彩色。
  *   `DEPTH`：将彩色对齐到深度。
-  *   该参数大小写不敏感。硬件 D2C 仅支持 `COLOR` 作为对齐目标；如需对齐到 `DEPTH`，请使用 `align_mode:=SW`。
+  *   该参数大小写不敏感。硬件 D2C 仅支持 `COLOR` 作为对齐目标；如需对齐到 `DEPTH`，请使用 `align_mode:=SW`。启动和查看方法参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。
 - **`intra_camera_sync_reference`**
  - 设置相机内同步的参考点。适用于Gemini 330系列设备，当 `sync_mode` 设置为**软件**或**硬件触发**模式时。**选项：** `Start`、`Middle`、`End`。设置为空时，长基线设备默认End，短基线设备默认Middle。

@@ -215,11 +247,11 @@

 #### 固件与后端
 *   **`upgrade_firmware`**
-    *   输入参数为固件路径。新版本建议使用独立工具 `firmware_update_tool` 进行固件升级。
+    *   输入参数为固件路径。新版本建议使用独立工具 `firmware_update_tool` 进行固件升级，参考 [firmware_update_tool 工具](../5_advanced_guide/configuration/firmware_update_tool.md)。
 *   **`preset_firmware_path`**
-    *   输入参数为预设固件路径。如果输入多个路径，每个路径需要用 `,` 分隔，最多可输入3个固件路径。
+    *   输入参数为预设固件路径。如果输入多个路径，每个路径需要用 `,` 分隔，最多可输入3个固件路径。新版本建议使用独立工具烧录 preset，参考 [firmware_update_tool 工具](../5_advanced_guide/configuration/firmware_update_tool.md)。
 *   **`uvc_backend`**
-    *   可选值：`v4l2`、`libuvc`。
+    *   可选值：`v4l2`、`libuvc`。低 CPU 场景建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`connection_delay`**
    *   重新打开设备的延迟时间（毫秒）。某些设备（如Astra mini）需要较长时间初始化，热插拔时立即重新打开设备可能导致固件崩溃。
 *   **`retry_on_usb3_detection_failure`**
@@ -227,7 +259,7 @@

 #### TF、外参与校准
 *   **`publish_tf`** / **`tf_publish_rate`**
-    *   启用TF发布并设置其发布速率。
+    *   启用TF发布并设置其发布速率。坐标系、TF 树查看和可视化方法参考 [坐标系和 TF 变换](coordinate_and_tf.md)。
 *   **`enable_publish_extrinsic`**
    *   启用外参发布。
 *   **`ir_info_url`** / **`color_info_url`**
@@ -268,7 +300,7 @@

 #### 其他
 *   **`config_file_path`**
-    *   YAML配置文件的路径。默认为 `""`。如果未指定，将使用启动文件中的默认参数。
+    *   YAML配置文件的路径。默认为 `""`。如果未指定，将使用启动文件中的默认参数。部分 preset 或特殊模式会通过 YAML 配置，示例参考 [设备预设](../5_advanced_guide/configuration/predefined_presets.md)。
 *   **`load_config_json_file_path`**
    *   SDK JSON 配置导入路径。设置后节点会在初始化时调用 SDK 导入 JSON 配置。Gemini 330 系列可使用 `gemini_330_series_sdk_json.launch.py` 作为专用启动文件。
 *   **`export_config_json_file_path`**
@@ -277,7 +309,7 @@
    *   设置帧聚合输出模式。可选值：`full_frame`、`color_frame`、`ANY`、`disable`。
    *   该参数大小写不敏感；非法值会报错并回退默认值。
 *   **`enable_d2c_viewer`**
-    *   发布D2C叠加图像（仅用于测试）。
+    *   发布D2C叠加图像（仅用于测试）。使用示例参考 [对齐深度到彩色](../5_advanced_guide/configuration/align_depth_color.md)。

 ### IMU

@@ -305,11 +337,11 @@
 *   **`enable_threshold_filter`**
    *   启用深度阈值滤波器。使用 `threshold_filter_max`、`threshold_filter_min` 设置。
 *   **`enable_hardware_noise_removal_filter`**
-    *   启用深度硬件降噪滤波器。
+    *   启用深度硬件降噪滤波器。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_noise_removal_filter`**
-    *   启用深度软件降噪滤波器。使用 `noise_removal_filter_min_diff` 等设置。
+    *   启用深度软件降噪滤波器。使用 `noise_removal_filter_min_diff` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_spatial_filter`**
-    *   启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。
+    *   启用深度空间滤波器。使用 `spatial_filter_alpha` 等设置。低 CPU 配置建议参考 [降低 CPU 使用率](../5_advanced_guide/performance/lower_cpu_usage.md)。
 *   **`enable_temporal_filter`**
    *   启用深度时间滤波器。使用 `temporal_filter_diff_threshold` 等设置。
 *   **`enable_hole_filling_filter`**