mirror of
https://github.com/orbbec/OrbbecSDK_ROS2.git
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docs: rename GigE action command files to action command; update references in advanced guide
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ob-yalian
@@ -26,7 +26,7 @@ Multi-Camera
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multi_camera/multi_camera_synced.md
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multi_camera/multi_camera_synced_verification_tool.md
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multi_camera/gmsl_camera.md
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multi_camera/gige_action_command.md
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multi_camera/action_command.md
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Configuration & Modes
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+8
-8
@@ -1,6 +1,6 @@
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# GigE Action Command
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# Action Command
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The source files are in [gige_action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gige_action_command).
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The source files are in [action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/action_command).
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This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one
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host-side Action Command sender. The sender is intentionally created once at the top level because
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@@ -13,12 +13,12 @@ a GVCP Action Command can trigger multiple cameras.
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- Both cameras and the host on the same network
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Before running the example, change the two `net_device_ip` values in
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`multi_gige_action_command.launch.py` to match the cameras.
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`multi_action_command.launch.py` to match the cameras.
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## Start the cameras and sender
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```bash
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ros2 launch orbbec_camera multi_gige_action_command.launch.py
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ros2 launch orbbec_camera multi_action_command.launch.py
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```
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The launch file creates these device-scoped configuration services and one network-scoped sender:
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@@ -28,7 +28,7 @@ The launch file creates these device-scoped configuration services and one netwo
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/camera_01/set_action_config
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/camera_02/get_action_config
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/camera_02/set_action_config
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/gige_action_command_node/send_action_command
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/action_command_node/send_action_command
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```
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## Configure the cameras
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@@ -63,7 +63,7 @@ match the request will be triggered.
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Set `trigger_mode` to `0`. The delay and scheduled time fields must be zero:
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}"
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```
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@@ -75,7 +75,7 @@ system clock, adds the delay, and converts the result to the absolute GVCP/PTP t
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the SDK. This example schedules the command one second in the future:
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}"
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```
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@@ -91,7 +91,7 @@ Set `trigger_mode` to `2`, leave `delay_ms` at zero, and provide a future encode
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upper 32 bits contain seconds and the lower 32 bits contain nanoseconds:
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 2, delay_ms: 0, scheduled_time: <PTP_TIMESTAMP>}"
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```
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@@ -26,7 +26,7 @@
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multi_camera/multi_camera_synced.md
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multi_camera/multi_camera_synced_verification_tool.md
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multi_camera/gmsl_camera.md
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multi_camera/gige_action_command.md
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multi_camera/action_command.md
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配置与模式
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+8
-8
@@ -1,6 +1,6 @@
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# GigE Action Command
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# Action Command
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本示例通过 Group Actions 同步模式启动两台 Gemini 335Le 相机，并启动一个主机侧 Action Command 发送节点。一个 GVCP Action Command 可以触发多台相机，因此发送节点只在顶层启动一次。[查看示例源码](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gige_action_command)。
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本示例通过 Group Actions 同步模式启动两台 Gemini 335Le 相机，并启动一个主机侧 Action Command 发送节点。一个 GVCP Action Command 可以触发多台相机，因此发送节点只在顶层启动一次。[查看示例源码](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/action_command)。
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## 运行条件
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@@ -8,12 +8,12 @@
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- Orbbec SDK 2.10.2 或更高版本
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- 两台相机与主机位于同一网络
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运行前，修改 `multi_gige_action_command.launch.py` 中两处 `net_device_ip`，使其与相机 IP 一致。
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运行前，修改 `multi_action_command.launch.py` 中两处 `net_device_ip`，使其与相机 IP 一致。
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## 启动相机和发送节点
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```bash
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ros2 launch orbbec_camera multi_gige_action_command.launch.py
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ros2 launch orbbec_camera multi_action_command.launch.py
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```
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启动文件为每台相机提供配置服务，并启动一个发送服务：
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@@ -23,7 +23,7 @@ ros2 launch orbbec_camera multi_gige_action_command.launch.py
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/camera_01/set_action_config
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/camera_02/get_action_config
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/camera_02/set_action_config
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/gige_action_command_node/send_action_command
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/action_command_node/send_action_command
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```
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## 配置相机
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@@ -57,7 +57,7 @@ ros2 service call /camera_01/get_action_config \
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将 `trigger_mode` 设为 `0`，延迟和指定时间均设为零：
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}"
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```
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@@ -67,7 +67,7 @@ ros2 service call /gige_action_command_node/send_action_command \
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将 `trigger_mode` 设为 `1`，并提供正数毫秒延迟。节点读取主机系统时钟，加上延迟后转换为 SDK 所需的绝对 GVCP/PTP 时间戳。以下示例延迟一秒：
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}"
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```
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@@ -79,7 +79,7 @@ ros2 service call /gige_action_command_node/send_action_command \
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将 `trigger_mode` 设为 `2`，`delay_ms` 设为零，并提供未来的编码 PTP 时间戳。高 32 位为秒，低 32 位为纳秒：
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```bash
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ros2 service call /gige_action_command_node/send_action_command \
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ros2 service call /action_command_node/send_action_command \
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orbbec_camera_msgs/srv/SendActionCommand \
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"{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 2, delay_ms: 0, scheduled_time: <PTP_TIMESTAMP>}"
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```
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