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
 ```

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

@@ -166,6 +166,10 @@
     *   设置激光能量级别。
 *   **`enable_ldp`** / **`ldp_power_level`**
     *   启用LDP并设置其功率级别。
+*   **`enable_lrm_obstacle_distance_publish`**
+    *   发布 LRM 障碍物距离话题 `/camera/lrm/obstacle_distance`。默认值为 `false`；启用时会同时启用 LDP。
+*   **`lrm_obstacle_distance_publish_rate`**
+    *   设置 LRM 障碍物距离话题的发布频率，单位为 Hz。默认值为 `10.0`；非正数会回退为 `10.0`。
 
 ## 设备、同步与高级功能
 
@@ -256,9 +260,15 @@
 * **`depth_decimation_factor`** / **`left_ir_decimation_factor`** / **`right_ir_decimation_factor`**
   * 设置下采样倍数。可用`ros2 run orbbec_camera list_camera_profile_mode_node`查看可设置分辨率。**默认值：** `1`
   > **支持模组**：Gemini 301 系列。
+* **`color_mjpeg_quality`**
+  * 设置彩色 MJPEG 编码质量。**范围：** `1–100`，**默认值：** `-1`（不修改设备当前值）。需要固件版本大于等于 `1.8.11`。
+  > **支持模组**：Gemini 330 系列。
 * **`enable_false_positive_filter`**
   * 启用鬼影滤波。可减少重影噪声，使用示例和运行时调参方法请参考 [Gemini 330 系列鬼影滤波](../5_advanced_guide/configuration/false_positive_filter.md)。
   > **支持模组**：Gemini 330 系列 / Gemini 340 系列。
+* **`enable_fps_boost`**
+  * 启用设备 FPS Boost。默认值为 `false`；仅在设备支持 `FPS Boost` 属性时生效。
+  > **支持模组**：Gemini 330 系列。
 * **`enable_edge_noise_removal_filter`**
   * 启用 EdgeNoiseRemovalFilter，用于减少深度图边缘噪声。
   > **支持模组**：DaBai Max Pro。

docs/zh/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}'
     ```
 
+### 运行时数据流配置
+
+*   `/camera/set_stream_profile`
+
+    用于在节点运行期间切换一个或多个已启用图像流的 Profile。`stream_name` 支持 `color`、`left_color`、`right_color`、`depth`、`ir`、`left_ir` 和 `right_ir`。宽、高、帧率或格式可以只填写需要修改的字段；未修改的数值字段填写 `0`，格式填写空字符串。切换时节点会停止并重新启动数据流；如果目标 Profile 已经生效，服务会返回失败。
+
+    ```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`
+
+    运行时切换深度和彩色图像对齐模式。可选值为 `OFF`、`HW_D2C`、`SW_D2C` 和 `SW_C2D`，大小写不敏感。除 `OFF` 外，彩色流和深度流必须同时启用。切换时节点会自动重启数据流；失败时会恢复原对齐模式。
+
+    ```bash
+    ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: HW_D2C}"
+    ```
+
 ### 传感器与发射器控制
 
 *   `/camera/set_auto_white_balance` & `/camera/get_auto_white_balance`

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

@@ -30,6 +30,12 @@
 *   `/camera/ir/metadata`
     *   来自IR流固件的底层元数据。
 
+### LRM 障碍物距离
+
+*   `/camera/lrm/obstacle_distance`
+    *   发布 LRM 测得的障碍物距离，消息类型为 `std_msgs/msg/Int32`，单位为毫米。
+    *   **条件：** 仅在 `enable_lrm_obstacle_distance_publish` 为 `true` 时发布。发布频率由 `lrm_obstacle_distance_publish_rate` 设置，默认值为 `10.0` Hz。
+
 ### 点云话题
 
 *   `/camera/depth/points`

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

@@ -24,6 +24,21 @@
 
    这将启动带有深度到彩色配准的相机节点并打开查看器以显示叠加图像。
 
+### 运行时切换对齐模式
+
+相机节点启动后，可以通过 `/camera/set_image_registration_mode` 服务切换对齐模式，无需重启节点。支持以下模式：
+
+* `OFF`：关闭图像对齐。
+* `HW_D2C`：使用硬件将深度对齐到彩色。
+* `SW_D2C`：使用软件将深度对齐到彩色。
+* `SW_C2D`：使用软件将彩色对齐到深度。
+
+除 `OFF` 外，彩色流和深度流必须同时启用。服务会在切换过程中自动停止并重新启动数据流；切换失败时恢复原模式。
+
+```bash
+ros2 service call /camera/set_image_registration_mode orbbec_camera_msgs/srv/SetString "{data: SW_D2C}"
+```
+
 ### 在 RViz2 中选择话题
 
 要在 RViz2 中可视化对齐的图像：

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

@@ -10,6 +10,8 @@
 
 v2.8.x 之后，该工具会额外输出固件版本、preset 列表、preset 版本、网口设备本地网卡名和 IP 来源类型（`NONE`、`LLA`、`DHCP`、`PERSISTENT`）。当某个设备枚举失败时，工具会继续枚举其他设备。
 
+对于网络设备，该工具还会输出设备访问状态，包括 `UNKNOWN`、`UNSUPPORTED`、`AVAILABLE`、`CONTROLLED`、`EXCLUSIVE`、`UNREACHABLE` 和 `FW_NOT_SUPPORTED`。可通过该状态判断设备当前是否可访问、已被其他客户端控制或暂时不可达。
+
 ```bash
 ros2 run orbbec_camera list_devices_node
 ```