GigE 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 a GVCP Action Command can trigger multiple cameras.

Requirements

Gemini 335Le firmware 1.8.24 or later
Orbbec SDK 2.10.2 or later
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.

Start the cameras and sender

ros2 launch orbbec_camera multi_gige_action_command.launch.py

The launch file creates these device-scoped configuration services and one network-scoped sender:

/camera_01/get_action_config
/camera_01/set_action_config
/camera_02/get_action_config
/camera_02/set_action_config
/gige_action_command_node/send_action_command

Configure the cameras

Configure Action Signal block 0 on both cameras with matching keys and masks:

ros2 service call /camera_01/set_action_config \
  orbbec_camera_msgs/srv/SetActionConfig \
  "{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"

ros2 service call /camera_02/set_action_config \
  orbbec_camera_msgs/srv/SetActionConfig \
  "{device_key: 1, selector: 0, group_key: 1, group_mask: 1}"

Read the configuration back when needed:

ros2 service call /camera_01/get_action_config \
  orbbec_camera_msgs/srv/GetActionConfig \
  "{selector: 0}"

Trigger the group

Send an immediate broadcast command. Every camera whose device key, group key, and group mask match the request will be triggered:

ros2 service call /gige_action_command_node/send_action_command \
  orbbec_camera_msgs/srv/SendActionCommand \
  "{device_key: 1, group_key: 1, group_mask: 1, destination_ip: '255.255.255.255', scheduled_time: 0}"

success: true means the host dispatched the GVCP command; the protocol does not return a device acknowledgment. A nonzero scheduled_time uses a GVCP/PTP timestamp, with seconds in the upper 32 bits and nanoseconds in the lower 32 bits. Scheduled triggering requires the cameras and sender host to use synchronized time.