deploy: da15b54f99

2026-10-09 22:29:48 +08:00 · 2026-01-13 02:41:46 +00:00
parent eccf538f6d
commit f43f7c8d77
217 changed files with 4349 additions and 1365 deletions
@@ -1,4 +1,4 @@
 # Sphinx build info version 1
 # This file records the configuration used when building these files. When it is not found, a full rebuild will be done.
-config: adc71f2003683a11b4d207e0b3b8cf8e
+config: ab5f0296d1a747a1c751b9d787d6dce6
 tags: 645f666f9bcd5a90fca523b33c5a78b7
@@ -18,6 +18,17 @@ Here is the device support list of main branch (v1.x) and v2-main branch (v2.x):
    </tr>
  </thead>
  <tbody>
+      <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>
@@ -85,7 +85,7 @@ The following are the launch parameters available:

    *   Enable the Depth auto exposure priority.
 *   **`mean_intensity_set_point`**
-    *   Set the target mean intensity of the Depth image. For example: `mean_intensity_set_point:=100`.
+    *   Set the target average intensity of the depth image when auto-exposure is turned on. For example: `mean_intensity_set_point:=100`.
    > **Note:** This replaces the deprecated `depth_brightness`, which is still supported for backward compatibility.
 *   **`enable_depth_scale`**
    *   Whether to enable depth scaling after setting D2C. `true` means enabled, the default is `true`.
@@ -102,8 +102,7 @@ The following are the launch parameters available:
 *   **`ir_ae_max_exposure`**
    *   Set the maximum exposure value for IR auto exposure.
 *   **`ir_brightness`**
-    *   Set the IR brightness.
-
+    *   Set the target average intensity of the ir image when auto-exposure is turned on.
 #### Laser / LDP
 *   **`enable_laser`**
    *   Enable the laser. The default value is `true`.
@@ -156,10 +155,27 @@ The following are the launch parameters available:

 #### Device-Specific
 *   **`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.
+    * Preset resolution configuration for the camera device. Format: "width,height,ir_decimation_factor,depth_decimation_factor". Example: "1280,720,4,4". Leave empty to disable.
+    > Only supported 435Le.
+    >
 *   **`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).
-
+    *   Enable the gmsl trigger out signal / set gmsl trigger fps.
+    > Only supports [gmsl camera](../5_advanced_guide/multi_camera/gmsl_camera.md).
+    >
+* **`ae_mode`**
+  * `colorbased`: Automatic exposure based on color flow. `depthbased`: Automatic exposure based on depth flow. **默认值：** `depthbased`
+    > Only supports Gemini 305.
+    >
+* **`enalbe_sports_mode`**
+  * Whether to enable sports mode. **Default:** `false`
+    > Only supports Gemini 305.
+    >
+* **`depth_downscale`** / **`left_ir_downscale`** /**`right_ir_downscale`**
+  * Set the downsampling multiple. You can use `ros2 run orbbec_camera list_camera_profile_mode_node` to view the settable resolution. **Default value:** `1`
+    > Only supports Gemini 305.
+    >
+*   **`enable_ptp_config`**
+    *   Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.

 #### Disparity
 *   **`disparity_to_depth_mode`**
@@ -223,8 +239,6 @@ The following are the launch parameters available:

    *   Interval (in seconds) for synchronizing the camera time with the host system.
    > **Note**: This parameter only needs to be set when **`enable_sync_host_time = true`** and **`time_domain = device`**.
-*   **`enable_ptp_config`**
-    *   Enable PTP time synchronization. Only for Gemini 335Le. Requires `enable_sync_host_time` to be `false`.
 *   **`enable_frame_sync`**
    *   Enable the frame synchronization.

@@ -1,4 +1,4 @@
-# All available services for camera control
+# Available services

 > **Note:** Services related to a specific stream (e.g., `/camera/set_color_*`) are only available if that stream is enabled in the launch file (e.g., `enable_color:=true`).

@@ -1,7 +1,6 @@
 # Depth work mode switch

-Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
-and Femto and Femto Bolt cameras.
+Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2 and Gemini 2 L.

 - Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
  file's support.
@@ -7,7 +7,7 @@
 | High Accuracy  | - Depth of high confidence `<br>`- Barely noise depth values `<br>`- Lower fill rate                                                                                                                           | - Collision avoidance `<br>`- Object scanning                                                                                                                    |
 | High Density   | - Higher fill rate `<br>`- More tiny objects `<br>`- May suffer from noise depth values                                                                                                                        | - Object recognition `<br>`- Pick & place `<br>`- Foreground & background animation                                                                            |
 | Medium Density | - Balanced performance in fill rate and accuracy `<br>`- In comparison to Default: lower fill rate, better edge quality                                                                                          | - Generic and alternative to Default                                                                                                                               |
-| Custom         | - User defined Preset `<br>`- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `<br>`- For well-established custom configurations |
+| Custom         | - User defined Preset `<br>`- Derived from Presets above, with customized modifications `<br>`- e.g. a new configuration for the post-processing pipeline, etc. | - Better depth performance achieved using customized configurations in comparison to using predefined presets `<br>`- For well-established custom configurations |

 Choose the appropriate preset name based on your specific use case and set it as the value for the `device_preset`
 parameter.
@@ -0,0 +1,476 @@
+// @ts-check
+
+/**@constructor*/
+BaseStemmer = function() {
+    /** @protected */
+    this.current = '';
+    this.cursor = 0;
+    this.limit = 0;
+    this.limit_backward = 0;
+    this.bra = 0;
+    this.ket = 0;
+
+    /**
+     * @param {string} value
+     */
+    this.setCurrent = function(value) {
+        this.current = value;
+        this.cursor = 0;
+        this.limit = this.current.length;
+        this.limit_backward = 0;
+        this.bra = this.cursor;
+        this.ket = this.limit;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.getCurrent = function() {
+        return this.current;
+    };
+
+    /**
+     * @param {BaseStemmer} other
+     */
+    this.copy_from = function(other) {
+        /** @protected */
+        this.current          = other.current;
+        this.cursor           = other.cursor;
+        this.limit            = other.limit;
+        this.limit_backward   = other.limit_backward;
+        this.bra              = other.bra;
+        this.ket              = other.ket;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.in_grouping = function(s, min, max) {
+        /** @protected */
+        if (this.cursor >= this.limit) return false;
+        var ch = this.current.charCodeAt(this.cursor);
+        if (ch > max || ch < min) return false;
+        ch -= min;
+        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false;
+        this.cursor++;
+        return true;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_in_grouping = function(s, min, max) {
+        /** @protected */
+        while (this.cursor < this.limit) {
+            var ch = this.current.charCodeAt(this.cursor);
+            if (ch > max || ch < min)
+                return true;
+            ch -= min;
+            if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0)
+                return true;
+            this.cursor++;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.in_grouping_b = function(s, min, max) {
+        /** @protected */
+        if (this.cursor <= this.limit_backward) return false;
+        var ch = this.current.charCodeAt(this.cursor - 1);
+        if (ch > max || ch < min) return false;
+        ch -= min;
+        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return false;
+        this.cursor--;
+        return true;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_in_grouping_b = function(s, min, max) {
+        /** @protected */
+        while (this.cursor > this.limit_backward) {
+            var ch = this.current.charCodeAt(this.cursor - 1);
+            if (ch > max || ch < min) return true;
+            ch -= min;
+            if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) return true;
+            this.cursor--;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.out_grouping = function(s, min, max) {
+        /** @protected */
+        if (this.cursor >= this.limit) return false;
+        var ch = this.current.charCodeAt(this.cursor);
+        if (ch > max || ch < min) {
+            this.cursor++;
+            return true;
+        }
+        ch -= min;
+        if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) == 0) {
+            this.cursor++;
+            return true;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_out_grouping = function(s, min, max) {
+        /** @protected */
+        while (this.cursor < this.limit) {
+            var ch = this.current.charCodeAt(this.cursor);
+            if (ch <= max && ch >= min) {
+                ch -= min;
+                if ((s[ch >>> 3] & (0X1 << (ch & 0x7))) != 0) {
+                    return true;
+                }
+            }
+            this.cursor++;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.out_grouping_b = function(s, min, max) {
+        /** @protected */
+        if (this.cursor <= this.limit_backward) return false;
+        var ch = this.current.charCodeAt(this.cursor - 1);
+        if (ch > max || ch < min) {
+            this.cursor--;
+            return true;
+        }
+        ch -= min;
+        if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) == 0) {
+            this.cursor--;
+            return true;
+        }
+        return false;
+    };
+
+    /**
+     * @param {number[]} s
+     * @param {number} min
+     * @param {number} max
+     * @return {boolean}
+     */
+    this.go_out_grouping_b = function(s, min, max) {
+        /** @protected */
+        while (this.cursor > this.limit_backward) {
+            var ch = this.current.charCodeAt(this.cursor - 1);
+            if (ch <= max && ch >= min) {
+                ch -= min;
+                if ((s[ch >>> 3] & (0x1 << (ch & 0x7))) != 0) {
+                    return true;
+                }
+            }
+            this.cursor--;
+        }
+        return false;
+    };
+
+    /**
+     * @param {string} s
+     * @return {boolean}
+     */
+    this.eq_s = function(s)
+    {
+        /** @protected */
+        if (this.limit - this.cursor < s.length) return false;
+        if (this.current.slice(this.cursor, this.cursor + s.length) != s)
+        {
+            return false;
+        }
+        this.cursor += s.length;
+        return true;
+    };
+
+    /**
+     * @param {string} s
+     * @return {boolean}
+     */
+    this.eq_s_b = function(s)
+    {
+        /** @protected */
+        if (this.cursor - this.limit_backward < s.length) return false;
+        if (this.current.slice(this.cursor - s.length, this.cursor) != s)
+        {
+            return false;
+        }
+        this.cursor -= s.length;
+        return true;
+    };
+
+    /**
+     * @param {Among[]} v
+     * @return {number}
+     */
+    this.find_among = function(v)
+    {
+        /** @protected */
+        var i = 0;
+        var j = v.length;
+
+        var c = this.cursor;
+        var l = this.limit;
+
+        var common_i = 0;
+        var common_j = 0;
+
+        var first_key_inspected = false;
+
+        while (true)
+        {
+            var k = i + ((j - i) >>> 1);
+            var diff = 0;
+            var common = common_i < common_j ? common_i : common_j; // smaller
+            // w[0]: string, w[1]: substring_i, w[2]: result, w[3]: function (optional)
+            var w = v[k];
+            var i2;
+            for (i2 = common; i2 < w[0].length; i2++)
+            {
+                if (c + common == l)
+                {
+                    diff = -1;
+                    break;
+                }
+                diff = this.current.charCodeAt(c + common) - w[0].charCodeAt(i2);
+                if (diff != 0) break;
+                common++;
+            }
+            if (diff < 0)
+            {
+                j = k;
+                common_j = common;
+            }
+            else
+            {
+                i = k;
+                common_i = common;
+            }
+            if (j - i <= 1)
+            {
+                if (i > 0) break; // v->s has been inspected
+                if (j == i) break; // only one item in v
+
+                // - but now we need to go round once more to get
+                // v->s inspected. This looks messy, but is actually
+                // the optimal approach.
+
+                if (first_key_inspected) break;
+                first_key_inspected = true;
+            }
+        }
+        do {
+            var w = v[i];
+            if (common_i >= w[0].length)
+            {
+                this.cursor = c + w[0].length;
+                if (w.length < 4) return w[2];
+                var res = w[3](this);
+                this.cursor = c + w[0].length;
+                if (res) return w[2];
+            }
+            i = w[1];
+        } while (i >= 0);
+        return 0;
+    };
+
+    // find_among_b is for backwards processing. Same comments apply
+    /**
+     * @param {Among[]} v
+     * @return {number}
+     */
+    this.find_among_b = function(v)
+    {
+        /** @protected */
+        var i = 0;
+        var j = v.length
+
+        var c = this.cursor;
+        var lb = this.limit_backward;
+
+        var common_i = 0;
+        var common_j = 0;
+
+        var first_key_inspected = false;
+
+        while (true)
+        {
+            var k = i + ((j - i) >> 1);
+            var diff = 0;
+            var common = common_i < common_j ? common_i : common_j;
+            var w = v[k];
+            var i2;
+            for (i2 = w[0].length - 1 - common; i2 >= 0; i2--)
+            {
+                if (c - common == lb)
+                {
+                    diff = -1;
+                    break;
+                }
+                diff = this.current.charCodeAt(c - 1 - common) - w[0].charCodeAt(i2);
+                if (diff != 0) break;
+                common++;
+            }
+            if (diff < 0)
+            {
+                j = k;
+                common_j = common;
+            }
+            else
+            {
+                i = k;
+                common_i = common;
+            }
+            if (j - i <= 1)
+            {
+                if (i > 0) break;
+                if (j == i) break;
+                if (first_key_inspected) break;
+                first_key_inspected = true;
+            }
+        }
+        do {
+            var w = v[i];
+            if (common_i >= w[0].length)
+            {
+                this.cursor = c - w[0].length;
+                if (w.length < 4) return w[2];
+                var res = w[3](this);
+                this.cursor = c - w[0].length;
+                if (res) return w[2];
+            }
+            i = w[1];
+        } while (i >= 0);
+        return 0;
+    };
+
+    /* to replace chars between c_bra and c_ket in this.current by the
+     * chars in s.
+     */
+    /**
+     * @param {number} c_bra
+     * @param {number} c_ket
+     * @param {string} s
+     * @return {number}
+     */
+    this.replace_s = function(c_bra, c_ket, s)
+    {
+        /** @protected */
+        var adjustment = s.length - (c_ket - c_bra);
+        this.current = this.current.slice(0, c_bra) + s + this.current.slice(c_ket);
+        this.limit += adjustment;
+        if (this.cursor >= c_ket) this.cursor += adjustment;
+        else if (this.cursor > c_bra) this.cursor = c_bra;
+        return adjustment;
+    };
+
+    /**
+     * @return {boolean}
+     */
+    this.slice_check = function()
+    {
+        /** @protected */
+        if (this.bra < 0 ||
+            this.bra > this.ket ||
+            this.ket > this.limit ||
+            this.limit > this.current.length)
+        {
+            return false;
+        }
+        return true;
+    };
+
+    /**
+     * @param {number} c_bra
+     * @return {boolean}
+     */
+    this.slice_from = function(s)
+    {
+        /** @protected */
+        var result = false;
+        if (this.slice_check())
+        {
+            this.replace_s(this.bra, this.ket, s);
+            result = true;
+        }
+        return result;
+    };
+
+    /**
+     * @return {boolean}
+     */
+    this.slice_del = function()
+    {
+        /** @protected */
+        return this.slice_from("");
+    };
+
+    /**
+     * @param {number} c_bra
+     * @param {number} c_ket
+     * @param {string} s
+     */
+    this.insert = function(c_bra, c_ket, s)
+    {
+        /** @protected */
+        var adjustment = this.replace_s(c_bra, c_ket, s);
+        if (c_bra <= this.bra) this.bra += adjustment;
+        if (c_bra <= this.ket) this.ket += adjustment;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.slice_to = function()
+    {
+        /** @protected */
+        var result = '';
+        if (this.slice_check())
+        {
+            result = this.current.slice(this.bra, this.ket);
+        }
+        return result;
+    };
+
+    /**
+     * @return {string}
+     */
+    this.assign_to = function()
+    {
+        /** @protected */
+        return this.current.slice(0, this.limit);
+    };
+};
@@ -59,7 +59,7 @@ const Documentation = {
    Object.assign(Documentation.TRANSLATIONS, catalog.messages);
    Documentation.PLURAL_EXPR = new Function(
      "n",
-      `return (${catalog.plural_expr})`
+      `return (${catalog.plural_expr})`,
    );
    Documentation.LOCALE = catalog.locale;
  },
@@ -89,7 +89,7 @@ const Documentation = {

    const togglerElements = document.querySelectorAll("img.toggler");
    togglerElements.forEach((el) =>
-      el.addEventListener("click", (event) => toggler(event.currentTarget))
+      el.addEventListener("click", (event) => toggler(event.currentTarget)),
    );
    togglerElements.forEach((el) => (el.style.display = ""));
    if (DOCUMENTATION_OPTIONS.COLLAPSE_INDEX) togglerElements.forEach(toggler);
@@ -98,14 +98,15 @@ const Documentation = {
  initOnKeyListeners: () => {
    // only install a listener if it is really needed
    if (
-      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS &&
-      !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+      !DOCUMENTATION_OPTIONS.NAVIGATION_WITH_KEYS
+      && !DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
    )
      return;

    document.addEventListener("keydown", (event) => {
      // bail for input elements
-      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName))
+        return;
      // bail with special keys
      if (event.altKey || event.ctrlKey || event.metaKey) return;

@@ -41,11 +41,12 @@ if (typeof Scorer === "undefined") {
 }

 // Global search result kind enum, used by themes to style search results.
+// prettier-ignore
 class SearchResultKind {
-    static get index() { return  "index"; }
-    static get object() { return "object"; }
-    static get text() { return "text"; }
-    static get title() { return "title"; }
+  static get index() { return "index"; }
+  static get object() { return "object"; }
+  static get text() { return "text"; }
+  static get title() { return "title"; }
 }

 const _removeChildren = (element) => {
@@ -58,6 +59,15 @@ const _removeChildren = (element) => {
 const _escapeRegExp = (string) =>
  string.replace(/[.*+\-?^${}()|[\]\\]/g, "\\$&"); // $& means the whole matched string

+const _escapeHTML = (text) => {
+  return text
+    .replaceAll("&", "&amp;")
+    .replaceAll("<", "&lt;")
+    .replaceAll(">", "&gt;")
+    .replaceAll('"', "&quot;")
+    .replaceAll("'", "&apos;");
+};
+
 const _displayItem = (item, searchTerms, highlightTerms) => {
  const docBuilder = DOCUMENTATION_OPTIONS.BUILDER;
  const docFileSuffix = DOCUMENTATION_OPTIONS.FILE_SUFFIX;
@@ -90,25 +100,30 @@ const _displayItem = (item, searchTerms, highlightTerms) => {
  let linkEl = listItem.appendChild(document.createElement("a"));
  linkEl.href = linkUrl + anchor;
  linkEl.dataset.score = score;
-  linkEl.innerHTML = title;
+  linkEl.innerHTML = _escapeHTML(title);
  if (descr) {
    listItem.appendChild(document.createElement("span")).innerHTML =
-      " (" + descr + ")";
+      ` (${_escapeHTML(descr)})`;
    // highlight search terms in the description
-    if (SPHINX_HIGHLIGHT_ENABLED)  // set in sphinx_highlight.js
-      highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted"));
-  }
-  else if (showSearchSummary)
+    if (SPHINX_HIGHLIGHT_ENABLED)
+      // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+      highlightTerms.forEach((term) =>
+        _highlightText(listItem, term, "highlighted"),
+      );
+  } else if (showSearchSummary)
    fetch(requestUrl)
      .then((responseData) => responseData.text())
      .then((data) => {
        if (data)
          listItem.appendChild(
-            Search.makeSearchSummary(data, searchTerms, anchor)
+            Search.makeSearchSummary(data, searchTerms, anchor),
          );
        // highlight search terms in the summary
-        if (SPHINX_HIGHLIGHT_ENABLED)  // set in sphinx_highlight.js
-          highlightTerms.forEach((term) => _highlightText(listItem, term, "highlighted"));
+        if (SPHINX_HIGHLIGHT_ENABLED)
+          // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+          highlightTerms.forEach((term) =>
+            _highlightText(listItem, term, "highlighted"),
+          );
      });
  Search.output.appendChild(listItem);
 };
@@ -117,14 +132,14 @@ const _finishSearch = (resultCount) => {
  Search.title.innerText = _("Search Results");
  if (!resultCount)
    Search.status.innerText = Documentation.gettext(
-      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories."
+      "Your search did not match any documents. Please make sure that all words are spelled correctly and that you've selected enough categories.",
    );
  else
    Search.status.innerText = Documentation.ngettext(
      "Search finished, found one page matching the search query.",
      "Search finished, found ${resultCount} pages matching the search query.",
      resultCount,
-    ).replace('${resultCount}', resultCount);
+    ).replace("${resultCount}", resultCount);
 };
 const _displayNextItem = (
  results,
@@ -138,7 +153,7 @@ const _displayNextItem = (
    _displayItem(results.pop(), searchTerms, highlightTerms);
    setTimeout(
      () => _displayNextItem(results, resultCount, searchTerms, highlightTerms),
-      5
+      5,
    );
  }
  // search finished, update title and status message
@@ -170,9 +185,10 @@ const _orderResultsByScoreThenName = (a, b) => {
 * This is the same as ``\W+`` in Python, preserving the surrogate pair area.
 */
 if (typeof splitQuery === "undefined") {
-  var splitQuery = (query) => query
+  var splitQuery = (query) =>
+    query
      .split(/[^\p{Letter}\p{Number}_\p{Emoji_Presentation}]+/gu)
-      .filter(term => term)  // remove remaining empty strings
+      .filter((term) => term); // remove remaining empty strings
 }

 /**
@@ -184,16 +200,23 @@ const Search = {
  _pulse_status: -1,

  htmlToText: (htmlString, anchor) => {
-    const htmlElement = new DOMParser().parseFromString(htmlString, 'text/html');
+    const htmlElement = new DOMParser().parseFromString(
+      htmlString,
+      "text/html",
+    );
    for (const removalQuery of [".headerlink", "script", "style"]) {
-      htmlElement.querySelectorAll(removalQuery).forEach((el) => { el.remove() });
+      htmlElement.querySelectorAll(removalQuery).forEach((el) => {
+        el.remove();
+      });
    }
    if (anchor) {
-      const anchorContent = htmlElement.querySelector(`[role="main"] ${anchor}`);
+      const anchorContent = htmlElement.querySelector(
+        `[role="main"] ${anchor}`,
+      );
      if (anchorContent) return anchorContent.textContent;

      console.warn(
-        `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`
+        `Anchored content block not found. Sphinx search tries to obtain it via DOM query '[role=main] ${anchor}'. Check your theme or template.`,
      );
    }

@@ -202,7 +225,7 @@ const Search = {
    if (docContent) return docContent.textContent;

    console.warn(
-      "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template."
+      "Content block not found. Sphinx search tries to obtain it via DOM query '[role=main]'. Check your theme or template.",
    );
    return "";
  },
@@ -287,12 +310,8 @@ const Search = {
      const queryTermLower = queryTerm.toLowerCase();

      // maybe skip this "word"
-      // stopwords array is from language_data.js
-      if (
-        stopwords.indexOf(queryTermLower) !== -1 ||
-        queryTerm.match(/^\d+$/)
-      )
-        return;
+      // stopwords set is from language_data.js
+      if (stopwords.has(queryTermLower) || queryTerm.match(/^\d+$/)) return;

      // stem the word
      let word = stemmer.stemWord(queryTermLower);
@@ -304,8 +323,12 @@ const Search = {
      }
    });

-    if (SPHINX_HIGHLIGHT_ENABLED) {  // set in sphinx_highlight.js
-      localStorage.setItem("sphinx_highlight_terms", [...highlightTerms].join(" "))
+    if (SPHINX_HIGHLIGHT_ENABLED) {
+      // SPHINX_HIGHLIGHT_ENABLED is set in sphinx_highlight.js
+      localStorage.setItem(
+        "sphinx_highlight_terms",
+        [...highlightTerms].join(" "),
+      );
    }

    // console.debug("SEARCH: searching for:");
@@ -318,7 +341,13 @@ const Search = {
  /**
   * execute search (requires search index to be loaded)
   */
-  _performSearch: (query, searchTerms, excludedTerms, highlightTerms, objectTerms) => {
+  _performSearch: (
+    query,
+    searchTerms,
+    excludedTerms,
+    highlightTerms,
+    objectTerms,
+  ) => {
    const filenames = Search._index.filenames;
    const docNames = Search._index.docnames;
    const titles = Search._index.titles;
@@ -334,10 +363,15 @@ const Search = {

    const queryLower = query.toLowerCase().trim();
    for (const [title, foundTitles] of Object.entries(allTitles)) {
-      if (title.toLowerCase().trim().includes(queryLower) && (queryLower.length >= title.length/2)) {
+      if (
+        title.toLowerCase().trim().includes(queryLower)
+        && queryLower.length >= title.length / 2
+      ) {
        for (const [file, id] of foundTitles) {
-          const score = Math.round(Scorer.title * queryLower.length / title.length);
-          const boost = titles[file] === title ? 1 : 0;  // add a boost for document titles
+          const score = Math.round(
+            (Scorer.title * queryLower.length) / title.length,
+          );
+          const boost = titles[file] === title ? 1 : 0; // add a boost for document titles
          normalResults.push([
            docNames[file],
            titles[file] !== title ? `${titles[file]} > ${title}` : title,
@@ -353,9 +387,9 @@ const Search = {

    // search for explicit entries in index directives
    for (const [entry, foundEntries] of Object.entries(indexEntries)) {
-      if (entry.includes(queryLower) && (queryLower.length >= entry.length/2)) {
+      if (entry.includes(queryLower) && queryLower.length >= entry.length / 2) {
        for (const [file, id, isMain] of foundEntries) {
-          const score = Math.round(100 * queryLower.length / entry.length);
+          const score = Math.round((100 * queryLower.length) / entry.length);
          const result = [
            docNames[file],
            titles[file],
@@ -376,11 +410,13 @@ const Search = {

    // lookup as object
    objectTerms.forEach((term) =>
-      normalResults.push(...Search.performObjectSearch(term, objectTerms))
+      normalResults.push(...Search.performObjectSearch(term, objectTerms)),
    );

    // lookup as search terms in fulltext
-    normalResults.push(...Search.performTermsSearch(searchTerms, excludedTerms));
+    normalResults.push(
+      ...Search.performTermsSearch(searchTerms, excludedTerms),
+    );

    // let the scorer override scores with a custom scoring function
    if (Scorer.score) {
@@ -401,7 +437,11 @@ const Search = {
    // note the reversing of results, so that in the case of duplicates, the highest-scoring entry is kept
    let seen = new Set();
    results = results.reverse().reduce((acc, result) => {
-      let resultStr = result.slice(0, 4).concat([result[5]]).map(v => String(v)).join(',');
+      let resultStr = result
+        .slice(0, 4)
+        .concat([result[5]])
+        .map((v) => String(v))
+        .join(",");
      if (!seen.has(resultStr)) {
        acc.push(result);
        seen.add(resultStr);
@@ -413,8 +453,20 @@ const Search = {
  },

  query: (query) => {
-    const [searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms] = Search._parseQuery(query);
-    const results = Search._performSearch(searchQuery, searchTerms, excludedTerms, highlightTerms, objectTerms);
+    const [
+      searchQuery,
+      searchTerms,
+      excludedTerms,
+      highlightTerms,
+      objectTerms,
+    ] = Search._parseQuery(query);
+    const results = Search._performSearch(
+      searchQuery,
+      searchTerms,
+      excludedTerms,
+      highlightTerms,
+      objectTerms,
+    );

    // for debugging
    //Search.lastresults = results.slice();  // a copy
@@ -437,7 +489,7 @@ const Search = {
    const results = [];

    const objectSearchCallback = (prefix, match) => {
-      const name = match[4]
+      const name = match[4];
      const fullname = (prefix ? prefix + "." : "") + name;
      const fullnameLower = fullname.toLowerCase();
      if (fullnameLower.indexOf(object) < 0) return;
@@ -489,9 +541,7 @@ const Search = {
      ]);
    };
    Object.keys(objects).forEach((prefix) =>
-      objects[prefix].forEach((array) =>
-        objectSearchCallback(prefix, array)
-      )
+      objects[prefix].forEach((array) => objectSearchCallback(prefix, array)),
    );
    return results;
  },
@@ -516,8 +566,14 @@ const Search = {
      // find documents, if any, containing the query word in their text/title term indices
      // use Object.hasOwnProperty to avoid mismatching against prototype properties
      const arr = [
-        { files: terms.hasOwnProperty(word) ? terms[word] : undefined, score: Scorer.term },
-        { files: titleTerms.hasOwnProperty(word) ? titleTerms[word] : undefined, score: Scorer.title },
+        {
+          files: terms.hasOwnProperty(word) ? terms[word] : undefined,
+          score: Scorer.term,
+        },
+        {
+          files: titleTerms.hasOwnProperty(word) ? titleTerms[word] : undefined,
+          score: Scorer.title,
+        },
      ];
      // add support for partial matches
      if (word.length > 2) {
@@ -558,7 +614,8 @@ const Search = {
      // create the mapping
      files.forEach((file) => {
        if (!fileMap.has(file)) fileMap.set(file, [word]);
-        else if (fileMap.get(file).indexOf(word) === -1) fileMap.get(file).push(word);
+        else if (fileMap.get(file).indexOf(word) === -1)
+          fileMap.get(file).push(word);
      });
    });

@@ -569,11 +626,11 @@ const Search = {

      // as search terms with length < 3 are discarded
      const filteredTermCount = [...searchTerms].filter(
-        (term) => term.length > 2
+        (term) => term.length > 2,
      ).length;
      if (
-        wordList.length !== searchTerms.size &&
-        wordList.length !== filteredTermCount
+        wordList.length !== searchTerms.size
+        && wordList.length !== filteredTermCount
      )
        continue;

@@ -581,10 +638,10 @@ const Search = {
      if (
        [...excludedTerms].some(
          (term) =>
-            terms[term] === file ||
-            titleTerms[term] === file ||
-            (terms[term] || []).includes(file) ||
-            (titleTerms[term] || []).includes(file)
+            terms[term] === file
+            || titleTerms[term] === file
+            || (terms[term] || []).includes(file)
+            || (titleTerms[term] || []).includes(file),
        )
      )
        break;
@@ -626,7 +683,8 @@ const Search = {

    let summary = document.createElement("p");
    summary.classList.add("context");
-    summary.textContent = top + text.substr(startWithContext, 240).trim() + tail;
+    summary.textContent =
+      top + text.substr(startWithContext, 240).trim() + tail;

    return summary;
  },
@@ -1,7 +1,7 @@
 /* Highlighting utilities for Sphinx HTML documentation. */
 "use strict";

-const SPHINX_HIGHLIGHT_ENABLED = true
+const SPHINX_HIGHLIGHT_ENABLED = true;

 /**
 * highlight a given string on a node by wrapping it in
@@ -13,9 +13,9 @@ const _highlight = (node, addItems, text, className) => {
    const parent = node.parentNode;
    const pos = val.toLowerCase().indexOf(text);
    if (
-      pos >= 0 &&
-      !parent.classList.contains(className) &&
-      !parent.classList.contains("nohighlight")
+      pos >= 0
+      && !parent.classList.contains(className)
+      && !parent.classList.contains("nohighlight")
    ) {
      let span;

@@ -30,13 +30,7 @@ const _highlight = (node, addItems, text, className) => {

      span.appendChild(document.createTextNode(val.substr(pos, text.length)));
      const rest = document.createTextNode(val.substr(pos + text.length));
-      parent.insertBefore(
-        span,
-        parent.insertBefore(
-          rest,
-          node.nextSibling
-        )
-      );
+      parent.insertBefore(span, parent.insertBefore(rest, node.nextSibling));
      node.nodeValue = val.substr(0, pos);
      /* There may be more occurrences of search term in this node. So call this
       * function recursively on the remaining fragment.
@@ -46,7 +40,7 @@ const _highlight = (node, addItems, text, className) => {
      if (isInSVG) {
        const rect = document.createElementNS(
          "http://www.w3.org/2000/svg",
-          "rect"
+          "rect",
        );
        const bbox = parent.getBBox();
        rect.x.baseVal.value = bbox.x;
@@ -65,7 +59,7 @@ const _highlightText = (thisNode, text, className) => {
  let addItems = [];
  _highlight(thisNode, addItems, text, className);
  addItems.forEach((obj) =>
-    obj.parent.insertAdjacentElement("beforebegin", obj.target)
+    obj.parent.insertAdjacentElement("beforebegin", obj.target),
  );
 };

@@ -73,25 +67,31 @@ const _highlightText = (thisNode, text, className) => {
 * Small JavaScript module for the documentation.
 */
 const SphinxHighlight = {
-
  /**
   * highlight the search words provided in localstorage in the text
   */
  highlightSearchWords: () => {
-    if (!SPHINX_HIGHLIGHT_ENABLED) return;  // bail if no highlight
+    if (!SPHINX_HIGHLIGHT_ENABLED) return; // bail if no highlight

    // get and clear terms from localstorage
    const url = new URL(window.location);
    const highlight =
-        localStorage.getItem("sphinx_highlight_terms")
-        || url.searchParams.get("highlight")
-        || "";
-    localStorage.removeItem("sphinx_highlight_terms")
-    url.searchParams.delete("highlight");
-    window.history.replaceState({}, "", url);
+      localStorage.getItem("sphinx_highlight_terms")
+      || url.searchParams.get("highlight")
+      || "";
+    localStorage.removeItem("sphinx_highlight_terms");
+    // Update history only if '?highlight' is present; otherwise it
+    // clears text fragments (not set in window.location by the browser)
+    if (url.searchParams.has("highlight")) {
+      url.searchParams.delete("highlight");
+      window.history.replaceState({}, "", url);
+    }

    // get individual terms from highlight string
-    const terms = highlight.toLowerCase().split(/\s+/).filter(x => x);
+    const terms = highlight
+      .toLowerCase()
+      .split(/\s+/)
+      .filter((x) => x);
    if (terms.length === 0) return; // nothing to do

    // There should never be more than one element matching "div.body"
@@ -107,11 +107,11 @@ const SphinxHighlight = {
      document
        .createRange()
        .createContextualFragment(
-          '<p class="highlight-link">' +
-            '<a href="javascript:SphinxHighlight.hideSearchWords()">' +
-            _("Hide Search Matches") +
-            "</a></p>"
-        )
+          '<p class="highlight-link">'
+            + '<a href="javascript:SphinxHighlight.hideSearchWords()">'
+            + _("Hide Search Matches")
+            + "</a></p>",
+        ),
    );
  },

@@ -125,7 +125,7 @@ const SphinxHighlight = {
    document
      .querySelectorAll("span.highlighted")
      .forEach((el) => el.classList.remove("highlighted"));
-    localStorage.removeItem("sphinx_highlight_terms")
+    localStorage.removeItem("sphinx_highlight_terms");
  },

  initEscapeListener: () => {
@@ -134,10 +134,15 @@ const SphinxHighlight = {

    document.addEventListener("keydown", (event) => {
      // bail for input elements
-      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName)) return;
+      if (BLACKLISTED_KEY_CONTROL_ELEMENTS.has(document.activeElement.tagName))
+        return;
      // bail with special keys
-      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey) return;
-      if (DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS && (event.key === "Escape")) {
+      if (event.shiftKey || event.altKey || event.ctrlKey || event.metaKey)
+        return;
+      if (
+        DOCUMENTATION_OPTIONS.ENABLE_SEARCH_SHORTCUTS
+        && event.key === "Escape"
+      ) {
        SphinxHighlight.hideSearchWords();
        event.preventDefault();
      }
@@ -7,7 +7,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>Index &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="_static/custom.css?v=63de077d" />

  
@@ -15,8 +15,8 @@
      <script src="_static/jquery.js?v=5d32c60e"></script>
      <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="_static/doctools.js?v=9bcbadda"></script>
-      <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="_static/js/theme.js"></script>
    <link rel="index" title="Index" href="#" />
    <link rel="search" title="Search" href="search.html" /> 
@@ -128,7 +128,7 @@
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -410,7 +410,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>OrbbecSDK V2 ROS2 Wrapper documentation &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="_static/jquery.js?v=5d32c60e"></script>
      <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="_static/doctools.js?v=9bcbadda"></script>
-      <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="_static/js/theme.js"></script>
    <link rel="index" title="Index" href="genindex.html" />
    <link rel="search" title="Search" href="search.html" />
@@ -130,7 +130,7 @@
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -421,7 +421,7 @@
 </li>
 <li class="toctree-l2"><a class="reference internal" href="source/camera_devices/4_application_guide/application_guide.html">4. Application Guide</a><ul>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html">4.1. Launch parameters</a></li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a></li>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. Available services</a></li>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/topics.html">4.3. Available Topics</a></li>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/coordinate_and_tf.html">4.4. Coordinate Systems and TF Transforms</a></li>
 <li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/compressed_image.html">4.5. Compressed Image</a></li>
@@ -501,7 +501,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -7,7 +7,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>Search &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="_static/jquery.js?v=5d32c60e"></script>
      <script src="_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="_static/doctools.js?v=9bcbadda"></script>
-      <script src="_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="_static/js/theme.js"></script>
    <script src="_static/searchtools.js"></script>
    <script src="_static/language_data.js"></script>
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="source/camera_devices/4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -418,7 +418,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>1.1. Introduction &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -416,6 +416,17 @@
    </tr>
  </thead>
  <tbody>
+      <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>
@@ -746,7 +757,7 @@ thead th {

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>1.2. Orbbec SDK Overview &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -595,7 +595,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>1. Overview &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -433,7 +433,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>2.1. Environment configuration &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -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 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>2. Installation &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -428,7 +428,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>2.4. Registration Script (Required) &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -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 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>3.2. OrbbecViewer QuickStarts &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -497,7 +497,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>3.1. ROS Package QuickStarts &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -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 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>3. Quickstarts &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -433,7 +433,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>4. Application Guide &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -413,7 +413,7 @@
 <li class="toctree-l2"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l1"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l2"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
 <li class="toctree-l2"><a class="reference internal" href="services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
@@ -460,7 +460,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>4.5. Compressed Image &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -422,7 +422,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>4.4. Coordinate Systems and TF Transforms &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -749,7 +749,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>4.1. Launch parameters &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,12 +16,12 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
-    <link rel="next" title="4.2. All available services for camera control" href="services.html" />
+    <link rel="next" title="4.2. Available services" href="services.html" />
    <link rel="prev" title="4. Application Guide" href="application_guide.html" /> 
 </head>

@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -592,7 +592,7 @@
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point</span></code></strong></p>
 <ul class="simple">
-<li><p>Set the target mean intensity of the Depth image. For example: <code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>.</p></li>
+<li><p>Set the target average intensity of the depth image when auto-exposure is turned on. For example: <code class="docutils literal notranslate"><span class="pre">mean_intensity_set_point:=100</span></code>.</p></li>
 </ul>
 <blockquote>
 <div><p><strong>Note:</strong> This replaces the deprecated <code class="docutils literal notranslate"><span class="pre">depth_brightness</span></code>, which is still supported for backward compatibility.</p>
@@ -635,7 +635,7 @@
 </li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">ir_brightness</span></code></strong></p>
 <ul>
-<li><p>Set the IR brightness.</p></li>
+<li><p>Set the target average intensity of the ir image when auto-exposure is turned on.</p></li>
 </ul>
 </li>
 </ul>
@@ -751,15 +751,53 @@
 </section>
 <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">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 435Le. Leave empty to disable.</p></li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">preset_resolution_config</span></code></strong></p>
+<ul class="simple">
+<li><p>Preset resolution configuration for the camera device. Format: “width,height,ir_decimation_factor,depth_decimation_factor”. Example: “1280,720,4,4”. Leave empty to disable.</p></li>
 </ul>
+<blockquote>
+<div><p>Only supported 435Le.</p>
+</div></blockquote>
 </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>
+<ul class="simple">
+<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps.</p></li>
+</ul>
+<blockquote>
+<div><p>Only supports <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl camera</span></a>.</p>
+</div></blockquote>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">ae_mode</span></code></strong></p>
 <ul>
-<li><p>Enable the gmsl trigger out signal / set gmsl trigger fps. Used for <a class="reference internal" href="../5_advanced_guide/multi_camera/gmsl_camera.html"><span class="doc">gmsl camera</span></a>.</p></li>
+<li><p><code class="docutils literal notranslate"><span class="pre">colorbased</span></code>: Automatic exposure based on color flow. <code class="docutils literal notranslate"><span class="pre">depthbased</span></code>: Automatic exposure based on depth flow. <strong>默认值：</strong> <code class="docutils literal notranslate"><span class="pre">depthbased</span></code></p>
+<blockquote>
+<div><p>Only supports Gemini 305.</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enalbe_sports_mode</span></code></strong></p>
+<ul>
+<li><p>Whether to enable sports mode. <strong>Default:</strong> <code class="docutils literal notranslate"><span class="pre">false</span></code></p>
+<blockquote>
+<div><p>Only supports Gemini 305.</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">depth_downscale</span></code></strong> / <strong><code class="docutils literal notranslate"><span class="pre">left_ir_downscale</span></code></strong> /<strong><code class="docutils literal notranslate"><span class="pre">right_ir_downscale</span></code></strong></p>
+<ul>
+<li><p>Set the downsampling multiple. You can use <code class="docutils literal notranslate"><span class="pre">ros2</span> <span class="pre">run</span> <span class="pre">orbbec_camera</span> <span class="pre">list_camera_profile_mode_node</span></code> to view the settable resolution. <strong>Default value:</strong> <code class="docutils literal notranslate"><span class="pre">1</span></code></p>
+<blockquote>
+<div><p>Only supports Gemini 305.</p>
+</div></blockquote>
+</li>
+</ul>
+</li>
+<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
+<ul class="simple">
+<li><p>Enable PTP time synchronization. Only for Gemini 335Le. Requires <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> to be <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p></li>
 </ul>
 </li>
 </ul>
@@ -907,11 +945,6 @@
 <div><p><strong>Note</strong>: This parameter only needs to be set when <strong><code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span> <span class="pre">=</span> <span class="pre">true</span></code></strong> and <strong><code class="docutils literal notranslate"><span class="pre">time_domain</span> <span class="pre">=</span> <span class="pre">device</span></code></strong>.</p>
 </div></blockquote>
 </li>
-<li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_ptp_config</span></code></strong></p>
-<ul class="simple">
-<li><p>Enable PTP time synchronization. Only for Gemini 335Le. Requires <code class="docutils literal notranslate"><span class="pre">enable_sync_host_time</span></code> to be <code class="docutils literal notranslate"><span class="pre">false</span></code>.</p></li>
-</ul>
-</li>
 <li><p><strong><code class="docutils literal notranslate"><span class="pre">enable_frame_sync</span></code></strong></p>
 <ul class="simple">
 <li><p>Enable the frame synchronization.</p></li>
@@ -1071,14 +1104,14 @@
          </div>
          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
        <a href="application_guide.html" class="btn btn-neutral float-left" title="4. Application Guide" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
-        <a href="services.html" class="btn btn-neutral float-right" title="4.2. All available services for camera control" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
+        <a href="services.html" class="btn btn-neutral float-right" title="4.2. Available services" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
    </div>

  <hr/>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>4.6. Enabling and Visualizing Point Cloud in ROS 2 &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -467,7 +467,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -6,9 +6,9 @@
  <meta charset="utf-8" /><meta name="viewport" content="width=device-width, initial-scale=1" />

  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
-  <title>4.2. All available services for camera control &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
+  <title>4.2. Available services &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
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      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3 current"><a class="current reference internal" href="#">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -390,7 +390,7 @@
      <li><a href="../../../index.html" class="icon icon-home" aria-label="Home"></a></li>
          <li class="breadcrumb-item"><a href="../index.html">Camera Devices</a></li>
          <li class="breadcrumb-item"><a href="application_guide.html"><span class="section-number">4. </span>Application Guide</a></li>
-      <li class="breadcrumb-item active"><span class="section-number">4.2. </span>All available services for camera control</li>
+      <li class="breadcrumb-item active"><span class="section-number">4.2. </span>Available services</li>
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            <a href="../../../_sources/source/camera_devices/4_application_guide/services.md.txt" rel="nofollow"> View page source</a>
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@@ -400,8 +400,8 @@
          <div role="main" class="document" itemscope="itemscope" itemtype="http://schema.org/Article">
           <div itemprop="articleBody">
             
-  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="all-available-services-for-camera-control">
-<h1><span class="section-number">4.2. </span>All available services for camera control<a class="headerlink" href="#all-available-services-for-camera-control" title="Link to this heading"></a></h1>
+  <div class="lang-switch" style="margin:0 0 1em 0; font-size:0.9em;"><a class="lang-other" href="#">中文</a> | <a class="lang-current" href="#">English</a></div><script>(function(){var p=window.location.pathname;var isEn=p.indexOf('/en/')!==-1 && p.indexOf('/zh/')===-1;if(p.indexOf('/zh/')!==-1) isEn=false;var other = isEn ? p.replace(/\/en\//, '/zh/') : p.replace(/\/zh\//, '/en/');var current=p;var sw=document.querySelector('.lang-switch'); if(!sw) return;var o=sw.querySelector('.lang-other'); var c=sw.querySelector('.lang-current');if(isEn){ o.textContent='中文'; c.textContent='English'; } else { o.textContent='English'; c.textContent='中文'; }o.setAttribute('href', other); c.setAttribute('href', current);})();</script><section id="available-services">
+<h1><span class="section-number">4.2. </span>Available services<a class="headerlink" href="#available-services" title="Link to this heading"></a></h1>
 <blockquote>
 <div><p><strong>Note:</strong> Services related to a specific stream (e.g., <code class="docutils literal notranslate"><span class="pre">/camera/set_color_*</span></code>) are only available if that stream is enabled in the launch file (e.g., <code class="docutils literal notranslate"><span class="pre">enable_color:=true</span></code>).</p>
 </div></blockquote>
@@ -753,7 +753,7 @@ ros2<span class="w"> </span>service<span class="w"> </span>call<span class="w">

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
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@@ -8,7 +8,7 @@
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      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,13 +16,13 @@
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-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
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    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
    <link rel="next" title="4.4. Coordinate Systems and TF Transforms" href="coordinate_and_tf.html" />
-    <link rel="prev" title="4.2. All available services for camera control" href="services.html" /> 
+    <link rel="prev" title="4.2. Available services" href="services.html" /> 
 </head>

 <body class="wy-body-for-nav"> 
@@ -131,7 +131,7 @@
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 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -524,7 +524,7 @@
           </div>
          </div>
          <footer><div class="rst-footer-buttons" role="navigation" aria-label="Footer">
-        <a href="services.html" class="btn btn-neutral float-left" title="4.2. All available services for camera control" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
+        <a href="services.html" class="btn btn-neutral float-left" title="4.2. Available services" accesskey="p" rel="prev"><span class="fa fa-arrow-circle-left" aria-hidden="true"></span> Previous</a>
        <a href="coordinate_and_tf.html" class="btn btn-neutral float-right" title="4.4. Coordinate Systems and TF Transforms" accesskey="n" rel="next">Next <span class="fa fa-arrow-circle-right" aria-hidden="true"></span></a>
    </div>

@@ -532,7 +532,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
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-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
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-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
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@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -507,7 +507,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
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@@ -8,7 +8,7 @@
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-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
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-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
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    <link rel="index" title="Index" href="../../../../genindex.html" />
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@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -451,7 +451,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
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@@ -8,7 +8,7 @@
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-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
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@@ -16,8 +16,8 @@
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-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
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    <link rel="index" title="Index" href="../../../../genindex.html" />
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@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -428,7 +428,7 @@ resolutions is as follows:</p>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
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-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
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@@ -16,8 +16,8 @@
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-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
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    <link rel="index" title="Index" href="../../../../genindex.html" />
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@@ -131,7 +131,7 @@
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 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -402,8 +402,7 @@
             
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 <h1><span class="section-number">5.3.3. </span>Depth work mode switch<a class="headerlink" href="#depth-work-mode-switch" title="Link to this heading"></a></h1>
-<p>Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L,
-and Femto and Femto Bolt cameras.</p>
+<p>Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2 and Gemini 2 L.</p>
 <ul class="simple">
 <li><p>Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py
 file’s support.</p></li>
@@ -446,7 +445,7 @@ modify it, you can switch to the corresponding mode as needed.</p></li>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
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@@ -8,7 +8,7 @@
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-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
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-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
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@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
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@@ -507,7 +507,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.3.5. Using interleave_ae with Gemini330 series cameras &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -471,7 +471,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.3.7. Net_camera &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -510,7 +510,7 @@ net_device_port:<span class="o">=</span><span class="m">8090</span>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.3.6. Predefined presets &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -438,7 +438,7 @@
 </tr>
 <tr>
 <td>Custom</td>
-<td>- User defined Preset <code>&lt;br&gt;</code>- Derived from Presets above, with customized modifications, e.g. a new configuration for the post-processing pipeline, modified mean intensity set point of depth AE function, etc.</td>
+<td>- User defined Preset <code>&lt;br&gt;</code>- Derived from Presets above, with customized modifications <code>&lt;br&gt;</code>- e.g. a new configuration for the post-processing pipeline, etc.</td>
 <td>- Better depth performance achieved using customized configurations in comparison to using predefined presets <code>&lt;br&gt;</code>- For well-established custom configurations</td>
 </tr>
 </tbody>
@@ -458,7 +458,7 @@ parameter.</p>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.2.4. GMSL_camera &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -478,7 +478,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.2.1. Multi-Camera &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -506,7 +506,7 @@ by running the following command:</p></li>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.2.2. Multi_camera synced Instructions &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -494,7 +494,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.2.3. Multi-Camera Synchronization Verification Node &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -578,7 +578,7 @@ See <a class="reference internal" href="../performance/fastdds_tuning.html"><spa

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.1.2. Efficient intra-process communication: &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -448,7 +448,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.1.3. Fast DDS Optimization for Orbbec Camera with ROS2 &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -553,7 +553,7 @@ reliability of the Orbbec camera system in a ROS2 environment.</p>

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>5.1.1. Reducing CPU Usage with Orbbec ROS Package &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
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      <script src="../../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../../genindex.html" />
    <link rel="search" title="Search" href="../../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -606,7 +606,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>6. Benchmark &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
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      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -439,7 +439,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>6.3. Benchmark Data &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -432,7 +432,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>6.2. Benchmark Usage &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
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      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -535,7 +535,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>6.1. Introduction &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -446,7 +446,7 @@

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

@@ -8,7 +8,7 @@
  <meta name="viewport" content="width=device-width, initial-scale=1.0" />
  <title>6.4. Other Tools &mdash; OrbbecSDK V2 ROS2 Wrapper  documentation</title>
      <link rel="stylesheet" type="text/css" href="../../../_static/pygments.css?v=b86133f3" />
-      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=e59714d7" />
+      <link rel="stylesheet" type="text/css" href="../../../_static/css/theme.css?v=9edc463e" />
      <link rel="stylesheet" type="text/css" href="../../../_static/custom.css?v=63de077d" />

  
@@ -16,8 +16,8 @@
      <script src="../../../_static/jquery.js?v=5d32c60e"></script>
      <script src="../../../_static/_sphinx_javascript_frameworks_compat.js?v=2cd50e6c"></script>
      <script src="../../../_static/documentation_options.js?v=5929fcd5"></script>
-      <script src="../../../_static/doctools.js?v=9bcbadda"></script>
-      <script src="../../../_static/sphinx_highlight.js?v=dc90522c"></script>
+      <script src="../../../_static/doctools.js?v=fd6eb6e6"></script>
+      <script src="../../../_static/sphinx_highlight.js?v=6ffebe34"></script>
    <script src="../../../_static/js/theme.js"></script>
    <link rel="index" title="Index" href="../../../genindex.html" />
    <link rel="search" title="Search" href="../../../search.html" />
@@ -131,7 +131,7 @@
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
 </ul>
 </li>
-<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
+<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html">4.2. Available services</a><ul>
 <li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
 <li class="toctree-l5"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
@@ -469,7 +469,7 @@ ros2<span class="w"> </span>run<span class="w"> </span>orbbec_camera<span class=

  <div role="contentinfo">
    <p>&#169; Copyright 2025, ORBBEC INC. www.orbbec.com..
-      <span class="lastupdated">Last updated on 2026-01-07 06:53:08.
+      <span class="lastupdated">Last updated on 2026-01-13 02:41:39.
      </span></p>
  </div>

--- a/Show More
+++ b/Show More