From fd7f3f99f6608b78cb28e707ec658e31ea371b32 Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Tue, 29 Sep 2026 15:59:13 +0800 Subject: [PATCH] docs: rename GigE action command files to action command; update references in advanced guide --- .../5_advanced_guide/advanced_guide.rst | 2 +- ...{gige_action_command.md => action_command.md} | 16 ++++++++-------- .../5_advanced_guide/advanced_guide.rst | 2 +- ...{gige_action_command.md => action_command.md} | 16 ++++++++-------- 4 files changed, 18 insertions(+), 18 deletions(-) rename docs/en/source/camera_devices/5_advanced_guide/multi_camera/{gige_action_command.md => action_command.md} (85%) rename docs/zh/source/camera_devices/5_advanced_guide/multi_camera/{gige_action_command.md => action_command.md} (86%) diff --git a/docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst b/docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst index a97464e1..d07d30ed 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst +++ b/docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst @@ -26,7 +26,7 @@ Multi-Camera multi_camera/multi_camera_synced.md multi_camera/multi_camera_synced_verification_tool.md multi_camera/gmsl_camera.md - multi_camera/gige_action_command.md + multi_camera/action_command.md Configuration & Modes diff --git a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.md similarity index 85% rename from docs/en/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md rename to docs/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.md index d2ea7f31..abb133fb 100644 --- a/docs/en/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md +++ b/docs/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.md @@ -1,6 +1,6 @@ -# GigE Action Command +# Action Command -The source files are in [gige_action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/gige_action_command). +The source files are in [action_command](https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/examples/action_command). This example starts two Gemini 335Le cameras in Group Actions synchronization mode and one host-side Action Command sender. The sender is intentionally created once at the top level because @@ -13,12 +13,12 @@ a GVCP Action Command can trigger multiple cameras. - Both cameras and the host on the same network Before running the example, change the two `net_device_ip` values in -`multi_gige_action_command.launch.py` to match the cameras. +`multi_action_command.launch.py` to match the cameras. ## Start the cameras and sender ```bash -ros2 launch orbbec_camera multi_gige_action_command.launch.py +ros2 launch orbbec_camera multi_action_command.launch.py ``` The launch file creates these device-scoped configuration services and one network-scoped sender: @@ -28,7 +28,7 @@ The launch file creates these device-scoped configuration services and one netwo /camera_01/set_action_config /camera_02/get_action_config /camera_02/set_action_config -/gige_action_command_node/send_action_command +/action_command_node/send_action_command ``` ## Configure the cameras @@ -63,7 +63,7 @@ match the request will be triggered. Set `trigger_mode` to `0`. The delay and scheduled time fields must be zero: ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}" ``` @@ -75,7 +75,7 @@ system clock, adds the delay, and converts the result to the absolute GVCP/PTP t the SDK. This example schedules the command one second in the future: ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}" ``` @@ -91,7 +91,7 @@ Set `trigger_mode` to `2`, leave `delay_ms` at zero, and provide a future encode upper 32 bits contain seconds and the lower 32 bits contain nanoseconds: ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 2, delay_ms: 0, scheduled_time: }" ``` diff --git a/docs/zh/source/camera_devices/5_advanced_guide/advanced_guide.rst b/docs/zh/source/camera_devices/5_advanced_guide/advanced_guide.rst index 9020fc1f..40a3c6f3 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/advanced_guide.rst +++ b/docs/zh/source/camera_devices/5_advanced_guide/advanced_guide.rst @@ -26,7 +26,7 @@ multi_camera/multi_camera_synced.md multi_camera/multi_camera_synced_verification_tool.md multi_camera/gmsl_camera.md - multi_camera/gige_action_command.md + multi_camera/action_command.md 配置与模式 diff --git a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/action_command.md similarity index 86% rename from docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md rename to docs/zh/source/camera_devices/5_advanced_guide/multi_camera/action_command.md index ef36aaa5..12cef84b 100644 --- a/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md +++ b/docs/zh/source/camera_devices/5_advanced_guide/multi_camera/action_command.md @@ -1,6 +1,6 @@ -# GigE Action Command +# Action Command -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)。 +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)。 ## 运行条件 @@ -8,12 +8,12 @@ - Orbbec SDK 2.10.2 或更高版本 - 两台相机与主机位于同一网络 -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。 +运行前，修改 `multi_action_command.launch.py` 中两处 `net_device_ip`，使其与相机 IP 一致。 ## 启动相机和发送节点 ```bash -ros2 launch orbbec_camera multi_gige_action_command.launch.py +ros2 launch orbbec_camera multi_action_command.launch.py ``` 启动文件为每台相机提供配置服务，并启动一个发送服务： @@ -23,7 +23,7 @@ ros2 launch orbbec_camera multi_gige_action_command.launch.py /camera_01/set_action_config /camera_02/get_action_config /camera_02/set_action_config -/gige_action_command_node/send_action_command +/action_command_node/send_action_command ``` ## 配置相机 @@ -57,7 +57,7 @@ ros2 service call /camera_01/get_action_config \ 将 `trigger_mode` 设为 `0`，延迟和指定时间均设为零： ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 0, delay_ms: 0, scheduled_time: 0}" ``` @@ -67,7 +67,7 @@ ros2 service call /gige_action_command_node/send_action_command \ 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： ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 1, delay_ms: 1000, scheduled_time: 0}" ``` @@ -79,7 +79,7 @@ ros2 service call /gige_action_command_node/send_action_command \ 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： ```bash -ros2 service call /gige_action_command_node/send_action_command \ +ros2 service call /action_command_node/send_action_command \ orbbec_camera_msgs/srv/SendActionCommand \ "{device_key: 1, group_key: 1, group_mask: 1, broadcast_ip: '255.255.255.255', trigger_mode: 2, delay_ms: 0, scheduled_time: }" ```