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Update launch parameters and services documentation for clarity and additional device support

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ob-yalian
2026-01-12 10:09:56 +08:00
parent af67d4599f
commit fb96c8ca36
4 changed files with 36 additions and 9 deletions
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docs/en/source/camera_devices/4_application_guide/launch_parameters.md
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@@ -156,10 +156,27 @@ 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 +240,6 @@ 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.
docs/en/source/camera_devices/4_application_guide/services.md
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@@ -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`).