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docs: rename GigE action command files to action command; update references in advanced guide

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ob-yalian
2026-09-29 15:59:13 +08:00
parent 9ba23c5cf9
commit fd7f3f99f6
4 changed files with 18 additions and 18 deletions
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docs/en/source/camera_devices/5_advanced_guide/advanced_guide.rst
+1 -1
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@@ -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
docs/en/source/camera_devices/5_advanced_guide/multi_camera/gige_action_command.md → docs/en/source/camera_devices/5_advanced_guide/multi_camera/action_command.md
+8 -8
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@@ -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: <PTP_TIMESTAMP>}"
```