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docs: update device support table for clarity and accuracy

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ob-yalian
2026-05-15 16:48:51 +08:00
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docs/en/source/_static/custom.css
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docs/en/source/camera_devices/1_overview/introduction.md
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@@ -13,13 +13,19 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<tr style="background-color: #1f4e78; color: white; text-align: center;">
<th>Product Series</th>
<th>Product</th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Branch main</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Branch v2-main</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Orbbec SDK v1.x</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Orbbec SDK v2.x</a></th>
</tr>
</thead>
<tbody>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 305</td>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 430</td>
<td>Gemini 435Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td>
<td>Gemini 305</td>
<td>not supported</td>
<td>recommended for new designs</td>
@@ -28,31 +34,9 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<td>Gemini 305g</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 345Lg</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
<td>Gemini 435Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
<td>Gemini 335Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
@@ -87,6 +71,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="5" style="text-align: center; font-weight: bold;">Gemini 2</td>
<td>Gemini 2</td>
@@ -101,7 +96,7 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<tr>
<td>Gemini 2 XL</td>
<td>recommended for new designs</td>
<td>to be supported</td>
<td>not supported</td>
</tr>
<tr>
<td>Gemini 215</td>
@@ -146,8 +141,13 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
<td>not supported</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini (S) Pro</td>
<td rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini Pro</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Astra Mini S Pro</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
@@ -183,26 +183,158 @@ 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 |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------- |
| Gemini 305 | [1.0.30](https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305) | gemini305.launch.py |
| Gemini 305g | [1.0.30](https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305) | gemini305_g.launch.py |
| 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 | [1.1.3](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 345 | 1.9.03 | gemini345.launch.py |
| Gemini 345Lg | 1.9.03 | gemini345_lg.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
<thead>
<tr>
<th>Product Series</th>
<th>Products List</th>
<th>Recommended FW Version</th>
<th>Launch File</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 430</td>
<td>Gemini 435Le</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>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td>
<td>Gemini 305</td>
<td><a href="https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305">1.0.30</a></td>
<td>gemini305.launch.py</td>
</tr>
<tr>
<td>Gemini 305g</td>
<td><a href="https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305">1.0.30</a></td>
<td>gemini305_g.launch.py</td>
</tr>
<tr>
<td rowspan="9" style="text-align: center; font-weight: bold;">Gemini 330</td>
<td>Gemini 335</td>
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td>
<td>gemini_330_series.launch.py</td>
</tr>
<tr><td>Gemini 336</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 330</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 336L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 330L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335Lg</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335Le</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 338/338L/338Le/338Lg/331L</td><td>Recommended firmware in the release package</td><td>gemini_330_series.launch.py</td></tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td>1.9.03</td>
<td>gemini345_lg.launch.py</td>
</tr>
<tr>
<td rowspan="4" style="text-align: center; font-weight: bold;">Gemini 2</td>
<td>Gemini 2</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">1.4.98</a></td>
<td>gemini2.launch.py</td>
</tr>
<tr>
<td>Gemini 2 L</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">1.5.2</a></td>
<td>gemini2L.launch.py</td>
</tr>
<tr>
<td>Gemini 215</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">1.0.9</a></td>
<td>gemini210.launch.py</td>
</tr>
<tr>
<td>Gemini 210</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">1.0.9</a></td>
<td>gemini210.launch.py</td>
</tr>
<tr>
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
<td>Femto Bolt</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">1.1.3</a></td>
<td>femto_bolt.launch.py</td>
</tr>
<tr>
<td>Femto Mega</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">1.3.1</a></td>
<td>femto_mega.launch.py</td>
</tr>
<tr>
<td>Femto Mega I</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">2.0.4</a></td>
<td>femto_mega.launch.py</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Astra</td>
<td>Astra 2</td>
<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 rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini Pro</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro">2.0.03</a></td>
<td>astra.launch.py</td>
</tr>
<tr>
<td>Astra Mini S Pro</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro">2.0.03</a></td>
<td>astra.launch.py</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>1.0.0.6</td>
<td>lidar.launch.py</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>2.2.4.5</td>
<td>lidar.launch.py</td>
</tr>
</tbody>
</table>
## URDF Model Support
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
<thead>
<tr>
<th>Product Series</th>
<th>Product</th>
<th>URDF</th>
</tr>
</thead>
<tbody>
<tr><td style="text-align: center; font-weight: bold;">Gemini 430</td><td>Gemini 435Le</td><td>-</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td><td>Gemini 305</td><td>-</td></tr>
<tr><td>Gemini 305g</td><td>-</td></tr>
<tr><td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td><td>Gemini 335</td><td>gemini_335_336.urdf.xacro</td></tr>
<tr><td>Gemini 336</td><td>gemini_335_336.urdf.xacro</td></tr>
<tr><td>Gemini 330</td><td>-</td></tr>
<tr><td>Gemini 335L</td><td>gemini_335_L_336_L.urdf.xacro</td></tr>
<tr><td>Gemini 336L</td><td>gemini_335_L_336_L.urdf.xacro</td></tr>
<tr><td>Gemini 330L</td><td>-</td></tr>
<tr><td>Gemini 335Lg</td><td>gemini_335_Lg.urdf.xacro</td></tr>
<tr><td>Gemini 335Le</td><td>gemini_335_Le.urdf.xacro</td></tr>
<tr><td style="text-align: center; font-weight: bold;">Gemini 340</td><td>Gemini 345Lg</td><td>-</td></tr>
<tr><td rowspan="4" style="text-align: center; font-weight: bold;">Gemini 2</td><td>Gemini 2</td><td>gemini_2.urdf.xacro</td></tr>
<tr><td>Gemini 2 L</td><td>gemini_2_L.urdf.xacro</td></tr>
<tr><td>Gemini 215</td><td>-</td></tr>
<tr><td>Gemini 210</td><td>-</td></tr>
<tr><td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td><td>Femto Bolt</td><td>femto_bolt.urdf.xacro</td></tr>
<tr><td>Femto Mega</td><td>-</td></tr>
<tr><td>Femto Mega I</td><td>-</td></tr>
<tr><td style="text-align: center; font-weight: bold;">Astra</td><td>Astra 2</td><td>astra2.urdf.xacro</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td><td>Astra Mini Pro</td><td>-</td></tr>
<tr><td>Astra Mini S Pro</td><td>-</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td><td>Pulsar ME450</td><td>-</td></tr>
<tr><td>Pulsar SL450</td><td>-</td></tr>
</tbody>
</table>
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.
@@ -240,17 +372,17 @@ thead th {
</thead>
<tbody>
<tr>
<td style="text-align: center;">Gemini 305</td>
<td style="text-align: center;">Gemini 301</td>
<td>Gemini 305</td>
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Orbbec_Gemini%20305%20Datasheet%20V1.0_20260105.pdf">Orbbec Gemini 305 Datasheet</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 345Lg</td>
<td style="text-align: center;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2026/01/05091746/Gemini-345Lg-Datasheet-V2.0.pdf">Orbbec Gemini 345Lg Datasheet</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 435Le</td>
<td style="text-align: center;">Gemini 430</td>
<td>Gemini 435Le</td>
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le Datasheet</a></td>
</tr>
docs/zh/source/_static/custom.css
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docs/zh/source/camera_devices/1_overview/introduction.md
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@@ -13,13 +13,19 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<tr style="background-color: #1f4e78; color: white; text-align: center;">
<th>产品系列</th>
<th>产品</th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">main 分支</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">v2-main 分支</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/main" style="color: black; text-decoration: none;">Orbbec SDK v1.x</a></th>
<th><a href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main" style="color: black; text-decoration: none;">Orbbec SDK v2.x</a></th>
</tr>
</thead>
<tbody>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 305</td>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 430</td>
<td>Gemini 435Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td>
<td>Gemini 305</td>
<td>not supported</td>
<td>recommended for new designs</td>
@@ -28,31 +34,9 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<td>Gemini 305g</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 345Lg</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 435Le</td>
<td>Gemini 435Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td>
<td>Gemini 335Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
@@ -87,6 +71,17 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Gemini 335Le</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td>not supported</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td rowspan="5" style="text-align: center; font-weight: bold;">Gemini 2</td>
<td>Gemini 2</td>
@@ -101,7 +96,7 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<tr>
<td>Gemini 2 XL</td>
<td>recommended for new designs</td>
<td>to be supported</td>
<td>not supported</td>
</tr>
<tr>
<td>Gemini 215</td>
@@ -146,8 +141,13 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
<td>not supported</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini (S) Pro</td>
<td rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini Pro</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
<tr>
<td>Astra Mini S Pro</td>
<td>full maintenance</td>
<td>recommended for new designs</td>
</tr>
@@ -183,27 +183,158 @@ OrbbecSDK ROS2 封装为 Orbbec 相机与 ROS 2 环境提供无缝集成。它
关于如何获取与升级最新固件，[请点击这里](../3_quickstarts/orbbecviewer.md)。
| **产品列表** | **推荐固件版本** | **启动文件** |
| ----------------------- | -------------------------------------------------------------------------------------------- | --------------------------------------------- |
| Gemini 305 | [1.0.30](https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305) | gemini305.launch.py |
| Gemini 305g | [1.0.30](https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305) | gemini305_g.launch.py |
| 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 338/338L/338Le/338Lg/331L | 以发布包内推荐固件为准 | 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 | [1.1.3](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 345 | 1.9.03 | gemini345.launch.py |
| Gemini 345Lg | 1.9.03 | gemini345_lg.launch.py |
| Pulsar SL450 | 2.2.4.5 | lidar.launch.py |
| Pulsar ME450 | 1.0.0.6 | lidar.launch.py |
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
<thead>
<tr>
<th>产品系列</th>
<th>产品列表</th>
<th>推荐固件版本</th>
<th>启动文件</th>
</tr>
</thead>
<tbody>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 430</td>
<td>Gemini 435Le</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>
<td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td>
<td>Gemini 305</td>
<td><a href="https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305">1.0.30</a></td>
<td>gemini305.launch.py</td>
</tr>
<tr>
<td>Gemini 305g</td>
<td><a href="https://doc.orbbec.com/documentation/Gemini%20305%20Documentation/Firmware%20Release%20of%20Gemini%20305">1.0.30</a></td>
<td>gemini305_g.launch.py</td>
</tr>
<tr>
<td rowspan="9" style="text-align: center; font-weight: bold;">Gemini 330</td>
<td>Gemini 335</td>
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td>
<td>gemini_330_series.launch.py</td>
</tr>
<tr><td>Gemini 336</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 330</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 336L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 330L</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335Lg</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 335Le</td><td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Gemini330_Release_1.6.00.zip">1.6.00</a></td><td>gemini_330_series.launch.py</td></tr>
<tr><td>Gemini 338/338L/338Le/338Lg/331L</td><td>以发布包内推荐固件为准</td><td>gemini_330_series.launch.py</td></tr>
<tr>
<td style="text-align: center; font-weight: bold;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td>1.9.03</td>
<td>gemini345_lg.launch.py</td>
</tr>
<tr>
<td rowspan="4" style="text-align: center; font-weight: bold;">Gemini 2</td>
<td>Gemini 2</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2-Firmware">1.4.98</a></td>
<td>gemini2.launch.py</td>
</tr>
<tr>
<td>Gemini 2 L</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini2L-Firmware">1.5.2</a></td>
<td>gemini2L.launch.py</td>
</tr>
<tr>
<td>Gemini 215</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini215-Firmware">1.0.9</a></td>
<td>gemini210.launch.py</td>
</tr>
<tr>
<td>Gemini 210</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Gemini210-Firmware">1.0.9</a></td>
<td>gemini210.launch.py</td>
</tr>
<tr>
<td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td>
<td>Femto Bolt</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Bolt-Firmware">1.1.3</a></td>
<td>femto_bolt.launch.py</td>
</tr>
<tr>
<td>Femto Mega</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-Firmware">1.3.1</a></td>
<td>femto_mega.launch.py</td>
</tr>
<tr>
<td>Femto Mega I</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Femto-Mega-I-Firmware">2.0.4</a></td>
<td>femto_mega.launch.py</td>
</tr>
<tr>
<td style="text-align: center; font-weight: bold;">Astra</td>
<td>Astra 2</td>
<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 rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td>
<td>Astra Mini Pro</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-Pro">2.0.03</a></td>
<td>astra.launch.py</td>
</tr>
<tr>
<td>Astra Mini S Pro</td>
<td><a href="https://github.com/orbbec/OrbbecFirmware/releases/tag/Astra-Mini-S-Pro">2.0.03</a></td>
<td>astra.launch.py</td>
</tr>
<tr>
<td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td>
<td>Pulsar ME450</td>
<td>1.0.0.6</td>
<td>lidar.launch.py</td>
</tr>
<tr>
<td>Pulsar SL450</td>
<td>2.2.4.5</td>
<td>lidar.launch.py</td>
</tr>
</tbody>
</table>
## URDF模型支持情况
<table border="1" style="border-collapse: collapse; text-align: left; width: 100%;">
<thead>
<tr>
<th>产品系列</th>
<th>产品</th>
<th>URDF</th>
</tr>
</thead>
<tbody>
<tr><td style="text-align: center; font-weight: bold;">Gemini 430</td><td>Gemini 435Le</td><td>-</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">Gemini 301</td><td>Gemini 305</td><td>-</td></tr>
<tr><td>Gemini 305g</td><td>-</td></tr>
<tr><td rowspan="8" style="text-align: center; font-weight: bold;">Gemini 330</td><td>Gemini 335</td><td>gemini_335_336.urdf.xacro</td></tr>
<tr><td>Gemini 336</td><td>gemini_335_336.urdf.xacro</td></tr>
<tr><td>Gemini 330</td><td>-</td></tr>
<tr><td>Gemini 335L</td><td>gemini_335_L_336_L.urdf.xacro</td></tr>
<tr><td>Gemini 336L</td><td>gemini_335_L_336_L.urdf.xacro</td></tr>
<tr><td>Gemini 330L</td><td>-</td></tr>
<tr><td>Gemini 335Lg</td><td>gemini_335_Lg.urdf.xacro</td></tr>
<tr><td>Gemini 335Le</td><td>gemini_335_Le.urdf.xacro</td></tr>
<tr><td style="text-align: center; font-weight: bold;">Gemini 340</td><td>Gemini 345Lg</td><td>-</td></tr>
<tr><td rowspan="4" style="text-align: center; font-weight: bold;">Gemini 2</td><td>Gemini 2</td><td>gemini_2.urdf.xacro</td></tr>
<tr><td>Gemini 2 L</td><td>gemini_2_L.urdf.xacro</td></tr>
<tr><td>Gemini 215</td><td>-</td></tr>
<tr><td>Gemini 210</td><td>-</td></tr>
<tr><td rowspan="3" style="text-align: center; font-weight: bold;">Femto</td><td>Femto Bolt</td><td>femto_bolt.urdf.xacro</td></tr>
<tr><td>Femto Mega</td><td>-</td></tr>
<tr><td>Femto Mega I</td><td>-</td></tr>
<tr><td style="text-align: center; font-weight: bold;">Astra</td><td>Astra 2</td><td>astra2.urdf.xacro</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">Astra Mini</td><td>Astra Mini Pro</td><td>-</td></tr>
<tr><td>Astra Mini S Pro</td><td>-</td></tr>
<tr><td rowspan="2" style="text-align: center; font-weight: bold;">LiDAR</td><td>Pulsar ME450</td><td>-</td></tr>
<tr><td>Pulsar SL450</td><td>-</td></tr>
</tbody>
</table>
所有启动文件本质上是类似的，主要区别在于同系列不同型号设置的参数默认值。USB 标准差异（如 USB 2.0 与 USB 3.0）可能需要调整这些参数。如果遇到启动失败，请仔细查看规格说明书，特别关注启动文件中的分辨率设置以及其他参数，以确保兼容与最佳性能。
@@ -240,17 +371,17 @@ thead th {
</thead>
<tbody>
<tr>
<td style="text-align: center;">Gemini 305</td>
<td style="text-align: center;">Gemini 301</td>
<td>Gemini 305</td>
<td><a href="https://orbbec-debian-repos-aws.s3.amazonaws.com/product/Orbbec_Gemini%20305%20Datasheet%20V1.0_20260105.pdf">Orbbec Gemini 305 规格书</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 345Lg</td>
<td style="text-align: center;">Gemini 340</td>
<td>Gemini 345Lg</td>
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2026/01/05091746/Gemini-345Lg-Datasheet-V2.0.pdf">Orbbec Gemini 345Lg 规格书</a></td>
</tr>
<tr>
<td style="text-align: center;">Gemini 435Le</td>
<td style="text-align: center;">Gemini 430</td>
<td>Gemini 435Le</td>
<td><a href="https://new-orbbec3d-s3.s3.amazonaws.com/wp-content/uploads/2025/06/04011158/Orbbec-Gemini-435Le-Datasheet-V1.pdf">Orbbec Gemini 435Le 规格书</a></td>
</tr>