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<li class="toctree-l1"><a class="reference internal" href="../1_overview/overview.html">1. Overview</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../1_overview/introduction.html">1.1. Introduction</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/introduction.html#support-hardware-products">1.1.1. Support Hardware Products</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html">1.2. Orbbec SDK Overview</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#orbbec-sdk-v2-architecture-overview">1.2.2. Orbbec SDK v2 Architecture Overview</a></li>
<li class="toctree-l3"><a class="reference internal" href="../1_overview/orbbecsdk_overview.html#sdk-concept-overview">1.2.3. SDK Concept Overview</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../2_installation/installation.html">2. Installation</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../2_installation/build_the_package.html">2.1. Build from Source</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#environment">2.1.1. Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="../2_installation/build_the_package.html#linux-ros2-wrapper-compilation">2.1.2. Linux ROS2 Wrapper Compilation</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../2_installation/registration_script.html">2.2. Registration script (required)</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../3_quickstarts/quickstarts.html">3. Quickstarts</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="../3_quickstarts/quickstart.html#build-your-first-camera-application">3.1.2. Build your First Camera Application</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-1-source-ros-2-and-workspace">3.1.2.1. Step 1: Source ROS 2 and Workspace</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../3_quickstarts/quickstart.html#step-3-visualize-in-rviz2">3.1.2.3. Step 3: Visualize in RViz2</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../4_application_guide/application_guide.html">4. Application Guide</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/launch_parameters.html">4.1. Launch parameters</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#core-stream-configuration">4.1.1. Core &amp; Stream Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#sensor-controls">4.1.2. Sensor Controls</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#color-stream">4.1.2.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-stream">4.1.2.2. Depth Stream</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#laser-ldp">4.1.2.4. Laser / LDP</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#multi-camera-synchronization">4.1.3.1. Multi-Camera Synchronization</a></li>
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<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#interleave-ae-mode">4.1.3.5. Interleave AE Mode</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#basic-general-parameters">4.1.4. Basic &amp; General Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/launch_parameters.html#firmware-backend">4.1.4.1. Firmware &amp; Backend</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#imu">4.1.5. IMU</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/launch_parameters.html#depth-filters">4.1.6. Depth Filters</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/services.html">4.2. All available services for camera control</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#stream-control">4.2.1. Stream Control</a><ul>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#color-stream">4.2.1.1. Color Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#depth-stream">4.2.1.2. Depth Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#ir-stream">4.2.1.3. IR Stream</a></li>
<li class="toctree-l4"><a class="reference internal" href="../4_application_guide/services.html#all-streams">4.2.1.4. All Streams</a></li>
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<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#sensor-emitter-control">4.2.2. Sensor &amp; Emitter Control</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#device-information-management">4.2.3. Device Information &amp; Management</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#synchronization-triggering">4.2.4. Synchronization &amp; Triggering</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#depth-filter-configuration">4.2.5. Depth Filter Configuration</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/services.html#data-capture-calibration-management">4.2.6. Data Capture &amp; Calibration Management</a></li>
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<li class="toctree-l2"><a class="reference internal" href="../4_application_guide/topics.html">4.3. Available Topics</a><ul>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#image-streams">4.3.1. Image Streams</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#point-cloud-topics">4.3.2. Point Cloud Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#imu-topics">4.3.3. IMU Topics</a></li>
<li class="toctree-l3"><a class="reference internal" href="../4_application_guide/topics.html#device-status-diagnostics">4.3.4. Device Status &amp; Diagnostics</a></li>
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<li class="toctree-l1 current"><a class="reference internal" href="advanced_guide.html">5. Advanced Guide</a><ul class="current">
<li class="toctree-l2"><a class="reference internal" href="align_depth_color.html">5.1. Aligning Depth to Color in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#commands-to-align-and-view-depth-and-color-images">5.1.1. Commands to Align and View Depth and Color Images</a></li>
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#selecting-topics-in-rviz2">5.1.2. Selecting Topics in RViz2</a></li>
<li class="toctree-l3"><a class="reference internal" href="align_depth_color.html#example-of-depth-to-color-overlay">5.1.3. Example of Depth to Color Overlay</a></li>
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<li class="toctree-l2"><a class="reference internal" href="benchmark.html">5.2. Ob_benchmark tool</a><ul>
<li class="toctree-l3"><a class="reference internal" href="benchmark.html#usage-instructions">5.2.1. Usage Instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#tool-configuration-start-benchmark-params-json">5.2.1.1. Tool Configuration (start_benchmark_params.json)</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#camera-configuration-launch-files">5.2.1.2. Camera configuration (launch files)</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#running-the-ob-benchmark-tool">5.2.1.3. Running the ob_benchmark tool</a></li>
<li class="toctree-l4"><a class="reference internal" href="benchmark.html#output-data-files">5.2.1.4. Output Data Files</a></li>
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<li class="toctree-l2"><a class="reference internal" href="building_a_Debian_Package.html">5.3. Building a Debian Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#preparing-the-environment">5.3.1. Preparing the Environment</a></li>
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#configuring-ros-dependencies">5.3.2. Configuring ROS Dependencies</a></li>
<li class="toctree-l3"><a class="reference internal" href="building_a_Debian_Package.html#building-the-package">5.3.3. Building the Package</a></li>
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<li class="toctree-l2"><a class="reference internal" href="configuration_of_depth_NFOV_and_WFOV_modes.html">5.4. Configuration of depth NFOV and WFOV modes</a></li>
<li class="toctree-l2"><a class="reference internal" href="depth_work_mode_switch.html">5.5. Depth work mode switch</a></li>
<li class="toctree-l2"><a class="reference internal" href="disparity_search_offset.html">5.6. Disparity_search_offset</a><ul>
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#function-introduction">5.6.1. Function Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#parameter-introduction">5.6.2. Parameter Introduction</a></li>
<li class="toctree-l3"><a class="reference internal" href="disparity_search_offset.html#run-the-launch">5.6.3. Run the launch</a></li>
</ul>
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<li class="toctree-l2"><a class="reference internal" href="efficient_intra_process_communication.html">5.7. Efficient intra-process communication:</a><ul>
<li class="toctree-l3"><a class="reference internal" href="efficient_intra_process_communication.html#example">5.7.1. Example</a><ul>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#manually-loading-multiple-components-into-the-same-process">5.7.1.1. Manually loading multiple components into the same process</a></li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#using-a-launch-file">5.7.1.2. Using a launch file</a></li>
<li class="toctree-l4"><a class="reference internal" href="efficient_intra_process_communication.html#limitations">5.7.1.3. Limitations</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="fastdds_tuning.html">5.8. Fast DDS Optimization for Orbbec Camera with ROS2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#adjusting-system-parameters">5.8.1. Adjusting System Parameters</a><ul>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-time">5.8.1.1. IP Fragmentation Time</a></li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#ip-fragmentation-memory-threshold">5.8.1.2. IP Fragmentation Memory Threshold</a></li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#maximum-buffer-sizes">5.8.1.3. Maximum Buffer Sizes</a></li>
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<li class="toctree-l3"><a class="reference internal" href="fastdds_tuning.html#fast-dds-configuration">5.8.2. Fast DDS Configuration</a><ul>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#configuration-file-shm-fastdds-xml">5.8.2.1. Configuration File: <code class="docutils literal notranslate"><span class="pre">shm_fastdds.xml</span></code></a></li>
<li class="toctree-l4"><a class="reference internal" href="fastdds_tuning.html#environment-variables">5.8.2.2. Environment Variables</a></li>
</ul>
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</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="gmsl_camera.html">5.9. GMSL_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#single-gmsl-camera">5.9.1. Single GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera">5.9.2. Multi GMSL camera</a></li>
<li class="toctree-l3"><a class="reference internal" href="gmsl_camera.html#multi-gmsl-camera-synced">5.9.3. Multi GMSL camera synced</a><ul>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#additional-parameter-settings">5.9.3.1. Additional Parameter Settings</a></li>
<li class="toctree-l4"><a class="reference internal" href="gmsl_camera.html#run-the-launch">5.9.3.2. Run the launch</a></li>
</ul>
</li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="interleave_ae_mode.html">5.10. Using interleave_ae with Gemini330 series cameras</a><ul>
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#parameter-introduction">5.10.1. Parameter Introduction</a><ul>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-hdr">5.10.1.1. interleave hdr</a></li>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#interleave-laser">5.10.1.2. interleave laser</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#run-the-launch">5.10.2. Run the launch</a><ul>
<li class="toctree-l4"><a class="reference internal" href="interleave_ae_mode.html#example-visualization">5.10.2.1. Example Visualization</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="interleave_ae_mode.html#multi-camera-synced-interleave-ae">5.10.3. Multi_camera_synced + Interleave_ae</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="lower_cpu_usage.html">5.11. Reducing CPU Usage with Orbbec ROS Package</a><ul>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#recommended-settings-for-lower-cpu-usage">5.11.1. Recommended Settings for Lower CPU Usage</a></li>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#launch-files-used-for-testing">5.11.2. Launch Files Used for Testing</a></li>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-environment">5.11.3. Test environment</a><ul>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#hardware-configuration">5.11.3.1. Hardware Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#ros-configuration">5.11.3.2. ROS Configuration</a></li>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#camera-setup">5.11.3.3. Camera Setup</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-setup">5.11.4. Test Setup</a></li>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#test-results">5.11.5. Test Results</a><ul>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#uvc-backend-comparison-rgb-format">5.11.5.1. <code class="docutils literal notranslate"><span class="pre">uvc_backend</span></code> Comparison (RGB format)</a></li>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#color-format-comparison-mjpg-vs-rgb">5.11.5.2. <code class="docutils literal notranslate"><span class="pre">color_format</span></code> Comparison (MJPG vs RGB)</a></li>
<li class="toctree-l4"><a class="reference internal" href="lower_cpu_usage.html#filter-configuration-impact">5.11.5.3. Filter Configuration Impact</a></li>
</ul>
</li>
<li class="toctree-l3"><a class="reference internal" href="lower_cpu_usage.html#further-optimizationa">5.11.6. Further Optimizationa</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera.html">5.12. Multi-Camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#no-data-stream-from-multiple-cameras">5.12.1. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l3"><a class="reference internal" href="multi_camera.html#image-topic-frame-rate-too-low-from-multiple-cameras">5.12.2. Image topic frame rate too low from Multiple Cameras</a></li>
</ul>
</li>
<li class="toctree-l2"><a class="reference internal" href="multi_camera_synced.html">5.13. Multi_camera synced Instructions</a><ul>
<li class="toctree-l3"><a class="reference internal" href="multi_camera_synced.html#setup-instructions">5.13.1. Setup instructions</a><ul>
<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced.html#checking-camera-port-with-orbbecsdk-ros2">5.13.1.1. Checking camera port with OrbbecSDK_ROS2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#run-launch-and-save-camera-pictures">5.14.3.1. Run launch and save camera pictures</a></li>
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<li class="toctree-l4"><a class="reference internal" href="multi_camera_synced_verification_tool.html#analysis-tools">5.14.4.1. Analysis tools</a></li>
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<li class="toctree-l2 current"><a class="current reference internal" href="#">5.15. Net_camera</a><ul>
<li class="toctree-l3"><a class="reference internal" href="#femto-mega-gemini-435le">5.15.1. Femto Mega &amp; Gemini 435Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#parameter-introduction">5.15.1.1. Parameter Introduction</a></li>
<li class="toctree-l4"><a class="reference internal" href="#single-net-camera">5.15.1.2. Single Net camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#gemini-335le">5.15.2. Gemini 335Le</a><ul>
<li class="toctree-l4"><a class="reference internal" href="#id1">5.15.2.1. Single Net camera</a></li>
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<li class="toctree-l3"><a class="reference internal" href="#multi-net-camera">5.15.3. Multi Net camera</a></li>
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<li class="toctree-l2"><a class="reference internal" href="point_cloud.html">5.16. Enabling and Visualizing Point Cloud in ROS 2</a><ul>
<li class="toctree-l3"><a class="reference internal" href="point_cloud.html#enabling-depth-point-cloud">5.16.1. Enabling Depth Point Cloud</a><ul>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-depth-point-cloud">5.16.1.1. Command to Enable Depth Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-depth-point-cloud-in-rviz2">5.16.1.2. Visualizing Depth Point Cloud in RViz2</a></li>
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<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#command-to-enable-colored-point-cloud">5.16.2.1. Command to Enable Colored Point Cloud</a></li>
<li class="toctree-l4"><a class="reference internal" href="point_cloud.html#visualizing-colored-point-cloud-in-rviz2">5.16.2.2. Visualizing Colored Point Cloud in RViz2</a></li>
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<li class="toctree-l2"><a class="reference internal" href="predefined_presets.html">5.17. Predefined presets</a></li>
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<li class="toctree-l1"><a class="reference internal" href="../6_FAQ/FAQ.html">6. Frequently Asked Questions</a><ul>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#unexpected-crash">6.1. Unexpected Crash</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#no-data-stream-from-multiple-cameras">6.2. No Data Stream from Multiple Cameras</a></li>
<li class="toctree-l2"><a class="reference internal" href="../6_FAQ/FAQ.html#additional-troubleshooting">6.3. Additional Troubleshooting</a></li>
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<section id="net-camera">
<h1><span class="section-number">5.15. </span>Net_camera<a class="headerlink" href="#net-camera" title="Link to this heading"></a></h1>
<blockquote>
<div><p>This section describes how to use Net camera in OrbbecSDK_ROS2.Currently, only Femto_Mega, Gemini 335Le and Gemini 435Le devices are supported, and other Net devices will be supported in the near future.</p>
</div></blockquote>
<section id="femto-mega-gemini-435le">
<h2><span class="section-number">5.15.1. </span>Femto Mega &amp; Gemini 435Le<a class="headerlink" href="#femto-mega-gemini-435le" title="Link to this heading"></a></h2>
<section id="parameter-introduction">
<h3><span class="section-number">5.15.1.1. </span>Parameter Introduction<a class="headerlink" href="#parameter-introduction" title="Link to this heading"></a></h3>
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> is set to true, which will automatically enumerate network devices.</p>
<p>If you do not want to automatically enumerate network devices,you can set <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> to false, <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the device’s IP address, and <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> : Setting net device’s IP address.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> : Setting net device’s port.Usually, you can set it to 8090.</p></li>
</ul>
</section>
<section id="single-net-camera">
<h3><span class="section-number">5.15.1.2. </span>Single Net camera<a class="headerlink" href="#single-net-camera" title="Link to this heading"></a></h3>
<blockquote>
<div><p>If you need to run Gemini 435Le, you only need to replace <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py </a>in the run command with <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini435_le.launch.py">gemini435_le.launch.py</a></p>
</div></blockquote>
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/femto_mega.launch.py">femto_mega.launch.py</a> as an example:</p>
<ul class="simple">
<li><p><strong>automatically enumerate network devices:</strong></p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>Specify IP address to start the device:</strong></p></li>
</ul>
<p>Note: <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> needs to be changed to the IP address of the device, here it is 192.168.1.10</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>femto_mega.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">false</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
</pre></div>
</div>
</section>
</section>
<section id="gemini-335le">
<h2><span class="section-number">5.15.2. </span>Gemini 335Le<a class="headerlink" href="#gemini-335le" title="Link to this heading"></a></h2>
<p>Network device settings: <code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> must be set to true, set <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> to the IP address of the device, and set <code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> to the default value of 8090.</p>
<ul class="simple">
<li><p><code class="docutils literal notranslate"><span class="pre">enumerate_net_device</span></code> : Enable automatically enumerate network devices.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> : Setting net device’s IP address.</p></li>
<li><p><code class="docutils literal notranslate"><span class="pre">net_device_port</span></code> : Setting net device’s port.Usually, you can set it to 8090.</p></li>
</ul>
<section id="id1">
<h3><span class="section-number">5.15.2.1. </span>Single Net camera<a class="headerlink" href="#id1" title="Link to this heading"></a></h3>
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/tree/v2-main/orbbec_camera/launch/gemini_330_series.launch.py">gemini_330_series.launch.py</a> as an example:</p>
<ul class="simple">
<li><p><strong>automatically enumerate network devices:</strong></p></li>
</ul>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span>
</pre></div>
</div>
<ul class="simple">
<li><p><strong>Specify IP address to start the device:</strong></p></li>
</ul>
<p>Note: <code class="docutils literal notranslate"><span class="pre">net_device_ip</span></code> needs to be changed to the IP address of the device, here it is 192.168.1.10</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>gemini_330_series.launch.py<span class="w"> </span>enumerate_net_device:<span class="o">=</span><span class="nb">true</span><span class="w"> </span>net_device_ip:<span class="o">=</span><span class="m">192</span>.168.1.10<span class="w"> </span>net_device_port:<span class="o">=</span><span class="m">8090</span>
</pre></div>
</div>
</section>
</section>
<section id="multi-net-camera">
<h2><span class="section-number">5.15.3. </span>Multi Net camera<a class="headerlink" href="#multi-net-camera" title="Link to this heading"></a></h2>
<p>For <a class="reference external" href="https://github.com/orbbec/OrbbecSDK_ROS2/blob/v2-main/orbbec_camera/examples/net_camera/multi_net_camera.launch.py">multi_net_camera.launch.py</a> as an example:</p>
<div class="highlight-bash notranslate"><div class="highlight"><pre><span></span>ros2<span class="w"> </span>launch<span class="w"> </span>orbbec_camera<span class="w"> </span>multi_net_camera.launch.py
</pre></div>
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