Update README.MD

Author: jjiszjj

README.MD

@@ -237,7 +237,7 @@ For optimal performance, we strongly recommend updating to the latest firmware v
 | Gemini 336   | 1.2.20                   | gemini_330_series.launch.py |
 | Gemini 336L  | 1.2.20                   | gemini_330_series.launch.py |
 | Gemini 335Le | 1.5.31                   | gemini_330_series.launch.py |
-| Gemini 435Le | /                        | gemini_330_series.launch.py |
+| Gemini 435Le | 1.2.04                   | gemini435_le.launch.py      |
 | Femto Bolt   | 1.1.2                    | femto_bolt.launch.py        |
 | Femto Mega   | 1.3.0                    | femto_mega.launch.py        |
 | Astra 2      | 2.8.20                   | astra2.launch.py            |
@@ -438,12 +438,18 @@ When using Femto Mega, Gemini 335Le and Gemini 435Le, you can use the network to
 ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=true
 ```
 
-**Gemini 335Le & Gemini 435Le:**
+**Gemini 335Le:**
 
 ```bash
 ros2 launch orbbec_camera gemini_330_series.launch.py enumerate_net_device:=true
 ```
 
+**Gemini 435Le:**
+
+```bash
+ros2 launch orbbec_camera gemini435_le.launch.py enumerate_net_device:=true
+```
+
 For more information about network device enumeration.Reference:[Network device documentation](./orbbec_camera/examples/net_camera/)
 
 ### GMSL device enumeration

orbbec_camera/examples/net_camera/README.MD

@@ -2,7 +2,7 @@
 
 > 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.
 
-## Femto Mega
+## Femto Mega & Gemini 435Le
 
 ### Parameter Introduction
 
@@ -16,6 +16,8 @@ If you do not want to automatically enumerate network devices,you can set `enume
 
 ### Single Net camera
 
+> If you need to run Gemini 435Le, you only need to replace [femto_mega.launch.py ](../../launch/femto_mega.launch.py)in the run command with [gemini435_le.launch.py](../../launch/gemini435_le.launch.py)
+
 For [femto_mega.launch.py](../../launch/femto_mega.launch.py) as an example:
 
 #### automatically enumerate network devices:
@@ -32,7 +34,7 @@ Note: `net_device_ip` needs to be changed to the IP address of the device, here
 ros2 launch orbbec_camera femto_mega.launch.py enumerate_net_device:=false net_device_ip:=192.168.1.10 net_device_port:=8090
 ```
 
-## Gemini 335Le & Gemini 435Le
+## Gemini 335Le
 
 Network device settings: `enumerate_net_device` must be set to true, set `net_device_ip` to the IP address of the device, and set `net_device_port` to the default value of 8090.
 

orbbec_camera/tools/list_devices_node.cpp

@@ -20,25 +20,42 @@
 
 int main() {
   try {
+    ob::Context::setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
     auto context = std::make_unique<ob::Context>();
-    context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_OFF);
     auto list = context->queryDeviceList();
     for (size_t i = 0; i < list->deviceCount(); i++) {
-      auto device = list->getDevice(i);
-      auto device_info = device->getDeviceInfo();
-      std::string serial = device_info->serialNumber();
-      std::string uid = device_info->uid();
-      auto usb_port = orbbec_camera::parseUsbPort(uid);
-      std::stringstream pid_hex;
-      pid_hex<< std::hex << std::setw(4) << std::setfill('0') << device_info->getPid();
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
-                         "- Name: " << device_info->getName() << ", PID: 0x"
-                                    << pid_hex.str() << ", SN/ID: " << serial
-                                    << ", Connection: " << device_info->getConnectionType());
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
-      RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
-                         "usb connect type: " << device_info->getConnectionType());
+      if (std::string(list->getConnectionType(i)) != "Ethernet") {
+        std::string serial = list->serialNumber(i);
+        std::string uid = list->uid(i);
+        auto usb_port = orbbec_camera::parseUsbPort(uid);
+        auto connection_type = list->getConnectionType(i);
+        std::stringstream pid_hex;
+        pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
+                           "- Name: " << list->getName(i) << ", PID: 0x" << pid_hex.str()
+                                      << ", SN/ID: " << serial
+                                      << ", Connection: " << connection_type);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
+                           "usb connect type: " << connection_type);
+        std::cout << std::endl;
+      } else {
+        std::string serial = list->serialNumber(i);
+        auto connection_type = list->getConnectionType(i);
+        auto ip_address = list->getIpAddress(i);
+        std::stringstream pid_hex;
+        pid_hex << std::hex << std::setw(4) << std::setfill('0') << list->getPid(i);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
+                           "- Name: " << list->getName(i) << ", PID: 0x" << pid_hex.str()
+                                      << ", SN/ID: " << serial
+                                      << ", Connection: " << connection_type);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "ip address: " << ip_address);
+        RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"),
+                           "usb connect type: " << connection_type);
+        std::cout << std::endl;
+      }
     }
   } catch (ob::Error &e) {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());