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Update documentation links and platform support information

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obyalian
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docs/source/5_advanced_guide/benchmark.md
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## Usage Instructions
### Tool Configuration ([start_benchmark_params.json](../../config/tools/startbenchmark/start_benchmark_params.json))
### Tool Configuration ([start_benchmark_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/tools/startbenchmark/start_benchmark_params.json))
```json
{
docs/source/5_advanced_guide/disparity_search_offset.md
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## Parameter Introduction
The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)
The disparity_search_offset related parameters are set in [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py)
* `disparity_range_mode` : Disparity search length,can only be set to 64, 128 and 256.
docs/source/5_advanced_guide/gmsl_camera.md
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For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`.
Go to the [multi_gmsl_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera.launch.py) file and change the `usb_port`.
```bash
ros2 launch orbbec_camera multi_gmsl_camera.launch.py
```
> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them.
> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) to modify them.
## Multi GMSL camera synced
First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro, so there is no need to set the `primary` mode. Each GMSL camera is `secondary`.
@@ -41,10 +41,10 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
### Run the launch
Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi_gmsl_camera_synced.launch.py)
Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/gmsl_camera/multi_gmsl_camera_synced.launch.py)
```bash
ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
```
> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them.
> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_secondary_params.yaml) and [camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/config/camera_params.yaml) to modify them.
docs/source/5_advanced_guide/interleave_ae_mode.md
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## Parameter Introduction
The interleave_ae related parameters are set in [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py)
The interleave_ae related parameters are set in [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/launch/gemini_330_series.launch.py)
* `interleave_ae_mode` : Set laser or hdr interleave.
@@ -78,4 +78,4 @@ ros2 launch orbbec_camera gemini_330_series.launch.py
## Multi_camera_synced + Interleave_ae
Please refer to [multi_camera_synced](../multi_camera_synced/README.MD) and [Parameter Introduction](#parameter-introduction)
Please refer to [multi_camera_synced](./multi_camera_synced.md) and [Parameter Introduction](#parameter-introduction)
docs/source/5_advanced_guide/multi_camera.md
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## Image topic frame rate too low from Multiple Cameras
Refer to the [Fast DDS Configuration](./docs/fastdds_tuning.md) file.
Refer to the [Fast DDS Configuration](./fastdds_tuning.md) file.
docs/source/5_advanced_guide/multi_camera_synced_verification_tool.md
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> This article will introduce how to verify the synchronization accuracy of multi-camera synchronization.
>
> First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
> First, please see how to use [multi_camera_synced](./multi_camera_synced.md).
## Directory Structure
@@ -90,7 +90,7 @@ save_rgbir is a tool for saving images. The configuration file of this tool is i
### DevicesInfo.txt
Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](./multicamera_sync/output/20250218102900).
Edit DevicesInfo.txt. Only the `primarySerialNumber`, `index` and `serialNumber` parameters need to be changed. Other parameters do not need to be changed.Refer to the example of [20250218102900](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900).
* `primarySerialNumber` : The SN serial number of the primary camera
* `index` : Camera index
@@ -120,7 +120,7 @@ When the terminal displays "over", the image is saved.A new multicamera_sync fol
### Camera pictures naming format
Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](./multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/TotalModeFrames/SNCP1E5420006D_Index0/color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg) as an example
* `color` : This image is a snapshot of the color stream.
* `SNCP1E5420006D` : The camera's SN serial number is CP1E5420006D.
@@ -133,7 +133,7 @@ Take [color_SNCP1E5420006D_Index0_g1739874543227_f0_s1739874543327_e50_d16_.jpg]
### Analyzing camera image data
You need to copy the modified [Python folder](./multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](./multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder.
You need to copy the modified [Python folder](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python) to the new multi_camera_synced subdirectory, and copy the modified [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool/multicamera_sync/output/20250218102900/DevicesInfo.txt)and [StreamProfileInfo.txt](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/StreamProfileInfo.txt) to the same level directory as the TotalModeFrames folder.
* Finally everything is ready, run the python script
@@ -148,12 +148,12 @@ After the operation is successful, you can view the synchronization effect in th
### Analysis tools
* [multi_save_rgbir_params.json](../../config/tools/multisavergbir/multi_save_rgbir_params.json)
* [DevicesInfo.txt ](./multicamera_sync/output/20250218102900/DevicesInfo.txt)
* [Config.ini](./multicamera_sync/Python/Config.ini)
* [multi_save_rgbir_params.json](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json)
* [DevicesInfo.txt ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/output/20250218102900/DevicesInfo.txt)
* [Config.ini](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multicamera_sync/Python/Config.ini)
### Camera Configuration
[camera_params.yaml](../../config/camera_params.yaml)(Camera startup parameter settings)
[camera_params.yaml](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/config/camera_params.yaml)(Camera startup parameter settings)
[multi_camera_synced_verify.launch.py](./multi_camera_synced_verify.launch.py)
[multi_camera_synced_verify.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/multi_camera_synced_verification_tool//multi_camera_synced_verify.launch.py)
docs/source/5_advanced_guide/net_camera.md
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### Single Net camera
> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](../../launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](../../launch/gemini435_le.launch.py)
> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py)
For [femto_mega.launch.py](../../launch/femto_mega.launch.py) as an example:
For [femto_mega.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py) as an example:
#### automatically enumerate network devices:
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### Single Net camera
For [gemini_330_series.launch.py](../../launch/gemini_330_series.launch.py) as an example:
For [gemini_330_series.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py) as an example:
- **automatically enumerate network devices:**
@@ -62,7 +62,7 @@ ros2 launch orbbec_camera gemini_330_series.launch.py enumerate_net_device:=true
## Multi Net camera
For [multi_net_camera.launch.py](./multi_net_camera.launch.py) as an example:
For [multi_net_camera.launch.py](https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py) as an example:
```bash
ros2 launch orbbec_camera multi_net_camera.launch.py
docs/source/5_advanced_guide/point_cloud.md
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## Enabling and Visualizing Point Cloud in ROS 2
This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2, similarly to the initial camera node setup discussed in the [Starting Camera Node](../start_camera_node/start_camera_node.MD) document.
This section demonstrates how to enable point cloud data output from the camera node and visualize it using RViz2.
### Enabling Depth Point Cloud