docs: add runtime configuration options for image streams and registration modes

docs/en/source/camera_devices/4_application_guide/launch_parameters.md

@@ -165,6 +165,10 @@ The following are the launch parameters available:
     *   Set the laser energy level.
 *   **`enable_ldp`** / **`ldp_power_level`**
     *   Enable the LDP and set its power level.
+*   **`enable_lrm_obstacle_distance_publish`**
+    *   Publish LRM obstacle distance on `/camera/lrm/obstacle_distance`. The default is `false`. Enabling this parameter also enables LDP.
+*   **`lrm_obstacle_distance_publish_rate`**
+    *   Set the LRM obstacle distance topic rate in Hz. The default is `10.0`; non-positive values fall back to `10.0`.
 
 ## Device, Sync & Advanced Features
 
@@ -257,9 +261,15 @@ The following are the launch parameters available:
 * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
   * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
   > **Supported Modules**: Gemini 301 series
+* **`color_mjpeg_quality`**
+  * Set the color MJPEG encoding quality. **Range:** `1–100`; **Default:** `-1` (leave the current device value unchanged). Firmware version `1.8.11` or later is required.
+  > **Supported Modules**: Gemini 330 series
 * **`enable_false_positive_filter`**
   * Enable this option to reduce ghosting noise. For usage examples and runtime tuning, see [False Positive Filtering for Gemini 330 Series](../5_advanced_guide/configuration/false_positive_filter.md).
   > **Supported Modules**: Gemini 330 series / Gemini 340 series
+* **`enable_fps_boost`**
+  * Enable device FPS Boost. The default is `false`; this parameter only takes effect when the device supports the `FPS Boost` property.
+  > **Supported Modules**: Gemini 330 series
 * **`enable_edge_noise_removal_filter`**
   * Enable EdgeNoiseRemovalFilter to reduce edge noise in depth frames.
   > **Supported Modules**: DaBai Max Pro

docs/en/source/camera_devices/4_application_guide/services.md

@@ -108,6 +108,24 @@
     ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
     ```
 
+### Runtime Stream Configuration
+
+*   `/camera/set_stream_profile`
+
+    Switch one or more enabled image stream profiles while the node is running. `stream_name` accepts `color`, `left_color`, `right_color`, `depth`, `ir`, `left_ir`, and `right_ir`. Specify only the fields to change; use `0` for unchanged numeric fields and an empty string for an unchanged format. The node stops and restarts the streams during the switch. The service reports failure if the requested profile is already active.
+
+    ```bash
+    ros2 service call /camera/set_stream_profile orbbec_camera_msgs/srv/SetStreamProfile "{profiles: [{stream_name: color, width: 1280, height: 720, fps: 30, format: MJPG}]}"
+    ```
+
+*   `/camera/set_image_registration_mode`
+
+    Switch depth-color image registration at runtime. Valid values are `OFF`, `HW_D2C`, `SW_D2C`, and `SW_C2D`, case-insensitive. Both color and depth streams must be enabled for every mode except `OFF`. The node restarts streams automatically and restores the previous mode if the switch fails.
+
+    ```bash
+    ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: HW_D2C}"
+    ```
+
 ### Sensor & Emitter Control
 
 *   `/camera/set_auto_white_balance` & `/camera/get_auto_white_balance`

docs/en/source/camera_devices/4_application_guide/topics.md

@@ -31,6 +31,12 @@ These topics provide the raw image data and corresponding calibration informatio
 *   `/camera/ir/metadata`
     *   Low-level metadata from the IR stream firmware.
 
+### LRM Obstacle Distance
+
+*   `/camera/lrm/obstacle_distance`
+    *   Publishes the obstacle distance measured by LRM. The message type is `std_msgs/msg/Int32`, and the unit is millimeters.
+    *   **Condition:** Published only when `enable_lrm_obstacle_distance_publish` is `true`. Set the rate with `lrm_obstacle_distance_publish_rate`; the default is `10.0` Hz.
+
 ### Point Cloud Topics
 
 *   `/camera/depth/points`

docs/en/source/camera_devices/5_advanced_guide/configuration/align_depth_color.md

@@ -23,6 +23,21 @@ This section explains how to align depth images with color images to create an o
 
    This launches the camera node with depth to color registration and opens a viewer to display the overlay image.
 
+### Switching Registration Mode at Runtime
+
+After the camera node starts, use `/camera/set_image_registration_mode` to switch registration mode without restarting the node. The supported modes are:
+
+* `OFF`: Disable image registration.
+* `HW_D2C`: Align depth to color in hardware.
+* `SW_D2C`: Align depth to color in software.
+* `SW_C2D`: Align color to depth in software.
+
+Both color and depth streams must be enabled for every mode except `OFF`. The service stops and restarts streams automatically during the switch and restores the previous mode if the operation fails.
+
+```bash
+ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: SW_D2C}"
+```
+
 ### Selecting Topics in RViz2
 
 To visualize the aligned images in RViz2:

docs/en/source/camera_devices/6_benchmark/device_query_tools.md

@@ -10,6 +10,8 @@ This tool does not require the camera node to be running. It is useful for check
 
 Since v2.8.x, this tool also prints firmware version, preset list, preset version, local network interface name for Ethernet devices, and IP source type (`NONE`, `LLA`, `DHCP`, `PERSISTENT`). If one device fails during enumeration, the tool continues enumerating the remaining devices.
 
+For network devices, the tool also prints the device access state: `UNKNOWN`, `UNSUPPORTED`, `AVAILABLE`, `CONTROLLED`, `EXCLUSIVE`, `UNREACHABLE`, or `FW_NOT_SUPPORTED`. Use this state to determine whether the device is available, controlled by another client, or temporarily unreachable.
+
 ```bash
 ros2 run orbbec_camera list_devices_node
 ```