OrbbecSDK_ROS2/docs/depth_work_mode_switch.md

Depth work mode switch

Orbbec SDK ROS 2 supports the depth work mode switch. The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Femto and Femto Bolt cameras.

• Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support.
• The depth work mode switch is supported by Gemini 2, Gemini 2 L, and Gemini 2 XL cameras.
• The default depth work mode configuration of xxx.launch.py is the camera's default configuration. If you need to modify it, you can switch to the corresponding mode as needed.
• The specific camera depth work mode support types can be found in the comments of the depth mode.

# Depth work mode support is as follows:
# Unbinned Dense Default
# Unbinned Sparse Default
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value='')

• View depth work modes:

ros2 run orbbec_camera list_depth_work_mode_node

• Example:

ros2 launch orbbec_camera gemini2L.launch.py depth_work_mode:="Unbinned Dense Default"