Update gmsl_camera example

Author: jjiszjj

orbbec_camera/config/camera_params.yaml

@@ -25,7 +25,7 @@ enable_color: true
 color_width: 0
 color_height: 0
 color_fps: 0
-color_format: "MJPG"
+color_format: "ANY"
 enable_color_auto_exposure: true
 color_exposure: 30 # 3ms
 color_gain: 16 # -1 default
@@ -35,15 +35,15 @@ enable_depth: false
 depth_width: 0
 depth_height: 0
 depth_fps: 0
-depth_format: "Y16"
+depth_format: "ANY"
 
 
 #left ir params
 enable_left_ir: true
 left_ir_width: 0
 left_ir_height: 0
 left_ir_fps: 0
-left_ir_format: "Y8"
+left_ir_format: "ANY"
 enable_ir_auto_exposure: true
 ir_exposure: 3000 # 3ms
 ir_gain: 16 # -1 default
@@ -53,6 +53,6 @@ enable_right_ir: false
 right_ir_width: 0
 right_ir_height: 0
 right_ir_fps: 0
-right_ir_format: "Y8"
+right_ir_format: "ANY"
 
 

orbbec_camera/config/camera_secondary_params.yaml

@@ -25,7 +25,7 @@ enable_color: true
 color_width: 0
 color_height: 0
 color_fps: 0
-color_format: "MJPG"
+color_format: "ANY"
 enable_color_auto_exposure: true
 color_exposure: 30 # 3ms
 color_gain: 16 # -1 default
@@ -35,15 +35,15 @@ enable_depth: false
 depth_width: 0
 depth_height: 0
 depth_fps: 0
-depth_format: "Y16"
+depth_format: "ANY"
 
 
 #left ir params
 enable_left_ir: true
 left_ir_width: 0
 left_ir_height: 0
 left_ir_fps: 0
-left_ir_format: "Y8"
+left_ir_format: "ANY"
 enable_ir_auto_exposure: true
 ir_exposure: 3000 # 3ms
 ir_gain: 16 # -1 default
@@ -53,6 +53,6 @@ enable_right_ir: false
 right_ir_width: 0
 right_ir_height: 0
 right_ir_fps: 0
-right_ir_format: "Y8"
+right_ir_format: "ANY"
 
 

orbbec_camera/examples/gmsl_camera/README.MD

@@ -1,13 +1,13 @@
 # GMSL_camera
 
-> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only G335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
+> This section describes how to use GMSL camera in OrbbecSDK_ROS2.Currently, only Gemini 335Lg GMSL devices are supported, and other GMSL devices will be supported in the near future.
 
 ## Single GMSL camera
 
 The usage of GMSL camera in OrbbecSDK_ROS2 is the same as that of Gemini 330 series camera via USB.
 
 ```bash
-ros2 launch orbbec_camera gemini_330_series.launch.py
+ros2 launch orbbec_camera gemini_330_gmsl.launch.py
 ```
 
 ## Multi GMSL camera
@@ -20,12 +20,14 @@ ros2 run orbbec_camera list_devices_node
 
 For example, the obtained gmsl camera `usb_port`: `gmsl2-1`
 
-Go to the [multi_camera.launch.py](../../launch/multi_camera.launch.py) file and change the `usb_port`.
+Go to the [multi_gmsl_camera.launch.py](./multi_gmsl_camera.launch.py) file and change the `usb_port`.
 
 ```bash
-ros2 launch orbbec_camera multi_camera.launch.py
+ros2 launch orbbec_camera multi_gmsl_camera.launch.py
 ```
 
+> Note: By default, multi_gmsl_camera.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) to modify them.
+
 ## Multi GMSL camera synced
 
 First, please see how to use [multi_camera_synced](../multi_camera_synced/README.MD).
@@ -35,7 +37,6 @@ In addition, GMSL multi-camera synced does not require Multi-Camera Sync Hub Pro
 ### Additional Parameter Settings
 
 * `gmsl_trigger_fps` : set hardware soc trigger source frame rate.
-
 * `enable_gmsl_trigger` : enable hardware soc trigger.
 
 ### Run the launch
@@ -45,3 +46,5 @@ Please refer to the configuration in [multi_gmsl_camera_synced.launch.py.](multi
 ```bash
 ros2 launch orbbec_camera multi_gmsl_camera_synced.launch.py
 ```
+
+> Note: By default, multi_gmsl_camera_synced.launch.py only starts color and left_ir. If you want to start other sensors, please go to [camera_secondary_params.yaml](../../config/camera_secondary_params.yaml) and [camera_params.yaml](../../config/camera_params.yaml) to modify them.