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en/.doctrees/environment.pickle
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en/_sources/source/camera_devices/1_overview/introduction.md.txt
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@@ -129,6 +129,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
</tbody>
</table>
@@ -150,20 +161,22 @@ For optimal performance, we strongly recommend updating to the latest firmware v
To learn how to obtain and upgrade the latest firmware, [please click here](../3_quickstarts/orbbecviewer.md).
| **Products List** | **Recommended FW Version** | **Launch File** |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| **Products List** | **Recommended FW Version** | Launch File |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------- |
| Astra Mini Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro) | astra.launch.py |
| Astra Mini S Pro | [2.0.03](https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro) | astra.launch.py |
| Gemini 435Le | [1.3.6](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware) | gemini435_le.launch.py |
| Gemini 330 series | [1.6.00](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip) | gemini_330_series.launch.py |
| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
| Gemini 215 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware) | gemini210.launch.py |
| Gemini 210 | [1.0.9](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware) | gemini210.launch.py |
| Gemini 2 | [1.4.98](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware) | gemini2.launch.py |
| Gemini 2 L | [1.5.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware) | gemini2L.launch.py |
| Femto Bolt | [1.1.2](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware) | femto_bolt.launch.py |
| Femto Mega | [1.3.1](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware) | femto_mega.launch.py |
| Femto Mega I | [2.0.4](https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware) | femto_mega.launch.py |
| Astra 2 | [2.8.20](https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip) | astra2.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.
en/_sources/source/camera_devices/4_application_guide/launch_parameters.md.txt
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@@ -14,6 +14,11 @@ 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.
* **`device_preset`**
* The default value is `Default`. You can use the following command to view the configurable mode
```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.
* **`[color|depth|left_ir|right_ir|ir]_rotation`**
@@ -42,9 +47,7 @@ The following are the launch parameters available:
* **`right_ir.image_raw.enable_pub_plugins`**
* Enable Right IR image transport plugins. Default: `["image_transport/compressed", "image_transport/raw", "image_transport/theora"]`.
* **`point_cloud_decimation_filter_factor`**
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling; larger values apply stronger decimation.
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on specific devices like Gemini2. Leave empty to disable.
* Point cloud downsampling factor. Range: `1–8`. `1` means no downsampling.
### Sensor Controls
@@ -85,7 +88,7 @@ The following are the launch parameters available:
* Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
> **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
* **`enable_depth_scale`**
* Enable the depth scale.
* 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_ae_roi_[left|right|top|bottom]`**
@@ -152,8 +155,8 @@ The following are the launch parameters available:
> Used for [net camera](../5_advanced_guide/configuration/net_camera.md).
#### Device-Specific
* **`device_preset`**
* The default value is `Default`. Only the G330 series is supported. For more information, refer to the [G330 documentation](https://www.orbbec.com/docs/g330-use-depth-presets/). The value should be one of the preset names listed [in the table](../5_advanced_guide/configuration/predefined_presets.md).
* **`preset_resolution_config`**
* Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Only supported on 435Le. Leave empty to disable.
* **`enable_gmsl_trigger`** / **`gmsl_trigger_fps`**
* Enable the gmsl trigger out signal / set gmsl trigger fps. Used for [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
en/_sources/source/lidar_devices/lidar.md.txt
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@@ -59,11 +59,11 @@ rviz2
* `PointCloud2` visualization example:
![module in rviz2](./docs/images/lidar0.jpg)
![module in rviz2](./image/lidar0.jpg)
* `LaserScan` visualization example:
![module in rviz2](./docs/images/lidar1.png)
![module in rviz2](./image/lidar1.png)
## Usage
en/genindex.html
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@@ -410,7 +410,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/index.html
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@@ -501,7 +501,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/search.html
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@@ -418,7 +418,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
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en/source/camera_devices/1_overview/introduction.html
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@@ -527,6 +527,17 @@
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
</tbody>
</table><p><strong>Note</strong>: If you do not find your device, please contact our FAE or sales representative for help.</p>
<p><strong>Definition</strong>:</p>
@@ -547,7 +558,7 @@
<tr>
<th><strong>Products List</strong></th>
<th><strong>Recommended FW Version</strong></th>
<th><strong>Launch File</strong></th>
<th>Launch File</th>
</tr>
</thead>
<tbody>
@@ -563,7 +574,7 @@
</tr>
<tr>
<td>Gemini 435Le</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.2</a></td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemin435Le-Firmware">1.3.6</a></td>
<td>gemini435_le.launch.py</td>
</tr>
<tr>
@@ -611,6 +622,16 @@
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Astra2_Release_2.8.20.zip">2.8.20</a></td>
<td>astra2.launch.py</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>2.2.4.5</td>
<td>lidar.launch.py</td>
</tr>
<tr>
<td>Pulsar ME450</td>
<td>1.0.0.6</td>
<td>lidar.launch.py</td>
</tr>
</tbody>
</table><p>All launch files are essentially similar, with the primary difference being the default values of the parameters set
for different models within the same series. Differences in USB standards, such as USB 2.0 versus USB 3.0, may require adjustments to these parameters. If you encounter a startup failure, please carefully review the specification manual. Pay special attention to the resolution settings in the launch file, as well as other parameters, to ensure compatibility and optimal performance.</p>
@@ -725,7 +746,7 @@ thead th {
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/1_overview/orbbecsdk_overview.html
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@@ -595,7 +595,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/1_overview/overview.html
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@@ -433,7 +433,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/2_installation/build_the_package.html
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@@ -466,7 +466,7 @@ colcon<span class="w"> </span>build<span class="w"> </span>--event-handlers<span
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/2_installation/installation.html
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@@ -428,7 +428,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/2_installation/registration_script.html
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@@ -434,7 +434,7 @@ sudo<span class="w"> </span>udevadm<span class="w"> </span>control<span class="w
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/3_quickstarts/orbbecviewer.html
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@@ -497,7 +497,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/3_quickstarts/quickstart.html
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@@ -505,7 +505,7 @@ ros2<span class="w"> </span>param<span class="w"> </span>list
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/3_quickstarts/quickstarts.html
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@@ -433,7 +433,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/4_application_guide/application_guide.html
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@@ -460,7 +460,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/4_application_guide/compressed_image.html
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@@ -422,7 +422,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/4_application_guide/coordinate_and_tf.html
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@@ -749,7 +749,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
<span class="lastupdated">Last updated on 2026-01-04 01:36:39.
<span class="lastupdated">Last updated on 2026-01-07 06:53:08.
</span></p>
</div>
en/source/camera_devices/4_application_guide/launch_parameters.html
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@@ -408,101 +408,104 @@
<p>The following are the launch parameters available:</p>
<section id="core-stream-configuration">
<h2><span class="section-number">4.1.1. </span>Core &amp; Stream Configuration<a class="headerlink" href="#core-stream-configuration" title="Link to this heading"></a></h2>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">camera_name</span></code></strong></p>
<ul class="simple">
<li><p>Start the node namespace.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">serial_number</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>The serial number of the camera. This is required when multiple cameras are used.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">usb_port</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>The USB port of the camera. This is required when multiple cameras are used.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_num</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>The number of devices. This must be filled in if multiple cameras are required.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
<ul class="simple">
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. You can use the following command to view the configurable mode</p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class="w"> </span>list_camera_profile_mode_node
</pre></div>
</div>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_[width|height|fps|format]</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>The resolution and frame rate of the sensor stream.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_rotation</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Set stream image rotation.</p></li>
<li><p>The possible values are <code class="docutils literal notranslate"><span class="pre">0</span></code>, <code class="docutils literal notranslate"><span class="pre">90</span></code>, <code class="docutils literal notranslate"><span class="pre">180</span></code>, <code class="docutils literal notranslate"><span class="pre">270</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_flip</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable the stream image flip.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">[color|depth|left_ir|right_ir|ir]_mirror</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable the stream image mirror.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_point_cloud</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable the point cloud.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_colored_point_cloud</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable the RGB point cloud.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">cloud_frame_id</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Modify the <code class="docutils literal notranslate"><span class="pre">frame_id</span></code> name within the ros message.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">ordered_pc</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable filtering of invalid point clouds.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_qos</span></code>, <code class="docutils literal notranslate"><span class="pre">[stream]_camera_info_qos</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>ROS 2 Message Quality of Service (QoS) settings. The possible values are <code class="docutils literal notranslate"><span class="pre">SYSTEM_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETER_EVENTS</span></code>, <code class="docutils literal notranslate"><span class="pre">SERVICES_DEFAULT</span></code>, <code class="docutils literal notranslate"><span class="pre">PARAMETERS</span></code>, <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code> and are case-insensitive. These correspond to <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_system_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameter_events</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_services_default</span></code>, <code class="docutils literal notranslate"><span class="pre">rmw_qos_profile_parameters</span></code>, and <code class="docutils literal notranslate"><span class="pre">SENSOR_DATA</span></code>, respectively.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">color.image_raw.enable_pub_plugins</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable Color image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth.image_raw.enable_pub_plugins</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable Depth image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressedDepth&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;]</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">left_ir.image_raw.enable_pub_plugins</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable Left IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">right_ir.image_raw.enable_pub_plugins</span></code></strong></p>
<ul>
<ul class="simple">
<li><p>Enable Right IR image transport plugins. Default: <code class="docutils literal notranslate"><span class="pre">[&quot;image_transport/compressed&quot;,</span> <span class="pre">&quot;image_transport/raw&quot;,</span> <span class="pre">&quot;image_transport/theora&quot;]</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">point_cloud_decimation_filter_factor</span></code></strong></p>
<ul>
<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling; larger values apply stronger decimation.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
<ul>
<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Only supported on specific devices like Gemini2. Leave empty to disable.</p></li>
<ul class="simple">
<li><p>Point cloud downsampling factor. Range: <code class="docutils literal notranslate"><span class="pre">1–8</span></code>. <code class="docutils literal notranslate"><span class="pre">1</span></code> means no downsampling.</p></li>
</ul>
</li>
</ul>
@@ -597,7 +600,7 @@
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_depth_scale</span></code></strong></p>
<ul class="simple">
<li><p>Enable the depth scale.</p></li>
<li><p>Whether to enable depth scaling after setting D2C. <code class="docutils literal notranslate"><span class="pre">true</span></code> means enabled, the default is <code class="docutils literal notranslate"><span class="pre">true</span></code>.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_precision</span></code></strong></p>
@@ -749,9 +752,9 @@
<section id="device-specific">
<h3><span class="section-number">4.1.3.3. </span>Device-Specific<a class="headerlink" href="#device-specific" title="Link to this heading"></a></h3>
<ul class="simple">
<li><p><strong><code class="docutils literal notranslate"><span class="pre">device_preset</span></code></strong></p>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
<ul>
<li><p>The default value is <code class="docutils literal notranslate"><span class="pre">Default</span></code>. Only the G330 series is supported. For more information, refer to the <a class="reference external" href="https://www.orbbec.com/docs/g330-use-depth-presets/">G330 documentation</a>. The value should be one of the preset names listed <a class="reference internal" href="../5_advanced_guide/configuration/predefined_presets.html"><span class="doc">in the table</span></a>.</p></li>
<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Only supported on 435Le. Leave empty to disable.</p></li>
</ul>
</li>
<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_gmsl_trigger</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">gmsl_trigger_fps</span></code></strong></p>
@@ -1075,7 +1078,7 @@
<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<div role="contentinfo">
<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
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<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">PointCloud2</span></code> visualization example:</p></li>
</ul>
<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar0.jpg" /></p>
<p><img alt="module in rviz2" src="../../_images/lidar0.jpg" /></p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">LaserScan</span></code> visualization example:</p></li>
</ul>
<p><img alt="module in rviz2" src="source/lidar_devices/docs/images/lidar1.png" /></p>
<p><img alt="module in rviz2" src="../../_images/lidar1.png" /></p>
</section>
</section>
<section id="usage">
@@ -626,7 +626,7 @@ ros2<span class="w"> </span>topic<span class="w"> </span><span class="nb">echo</
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