Update docs and delete timed sync

Author: jjiszjj

docs/source/3_start_single_camera/start_single_camera.md

@@ -1,5 +1,3 @@
-<!-- docs/source/3_start_single_camera/start_single_camera.md -->
-
 # Single camera
 
 This guide provides instructions on how to launch the camera node with a colored point cloud feature enabled using ROS 2.
@@ -27,6 +25,42 @@ source install/setup.bash
 ros2 launch orbbec_camera orbbec_camera.launch.py config_file_path:=gemini330_series.yaml
 ```
 
+config_file_path:=gemini330_series.yaml means orbbec_camera.launch.py uses the parameters set in gemini330_series.yaml
+
+## Launch parameters
+
+For the definition and function of launch parameters, please refer to common.yaml. All open parameters are in common.yaml.The following is a partial common.yaml display:
+
+```yaml
+# config/*.yaml files are used to configure the camera parameters
+---
+orbbec_ros:
+    camera_parameters:
+        general:
+            # Camera model. upport product models by referencing config/*.yaml
+            camera_model: "gemini330_series"
+            # The configuration file for yaml params.
+            config_file_path: "gemini330_series.yaml"
+            # Log level. Supported levels are 'debug', 'info', 'warning' and 'error'. Default is 'none'.
+            log_level: "none"
+
+        deivce:
+            # camera name, usually overwritten by launch file
+            camera_name: "camera"
+            # camera serial number, usually overwritten by launch file
+            serial_number: ""
+            # The USB port of the camera. This parameter is required when using multiple cameras.
+            usb_port: ""
+            # Number of devices. If multiple cameras are required, this parameter must be filled in launch file
+            device_num: 1
+            # Optional values: v4l2, libuvc
+            uvc_backend: "libuvc"
+            # Usually no need to change
+            vendor_id: "0x2bc5"
+```
+
+Notice:If you run orbbec_camera.launch.py, the default combination of launch parameters used is common.yaml+gemini330_series.yaml, and the parameters in gemini330_series.yaml have higher priority than common.yaml
+
 ## Visualizing data in rviz2
 
 - view_display launch
@@ -113,7 +147,7 @@ Save point cloud:
 ros2 service call /camera/save_point_cloud std_srvs/srv/Empty "{}"
 ```
 
-&nbsp;
+ 
 
 ## Example visualizations
 
@@ -123,13 +157,101 @@ Here are examples of how the visualization might appear in rviz2:
 
 ![PointCloud View](../image/image1.jpg)
 
-&nbsp;
+ 
 
 - **Image Data Visualization**
 
 ![Image Data View](../image/image2.jpg)
 
-&nbsp;
+ 
+
+## Aligning Depth to Color
+
+### Commands to Align and View Depth and Color Images
+
+1. **Basic Depth to Color Alignment:**
+   To simply align the depth image to the color image, use the following command:
+
+   ```shell
+   ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true
+   ```
+
+   This command activates the depth registration feature without opening a viewer.
+2. **Viewing Depth to Color Overlay:**
+   If you wish to view the depth to color overlay, you need to enable the viewer by using the command below:
+
+   ```shell
+   ros2 launch orbbec_camera gemini_330_series.launch.py depth_registration:=true enable_d2c_viewer:=true
+   ```
+
+   This launches the camera node with depth to color registration and opens a viewer to display the overlay image.
+
+### Selecting Topics in RViz2
+
+To visualize the aligned images in RViz2:
+
+1. Launch RViz2 after running one of the above commands.
+2. Select the topic for the depth to color overlay image. An example topic selection is shown here:
+
+![D2C topic](../image/image3.png)
+
+### Example of Depth to Color Overlay
+
+After selecting the appropriate topic in RViz2, you will be able to see the depth to color overlay image. Here's what it might look like:
+
+![D2C VIEW](../image/image4.jpg)
+
+## Enabling and Visualizing Point Cloud
+
+### Enabling Depth Point Cloud
+
+#### Command to Enable Depth Point Cloud
+
+To activate the point cloud data stream for depth information, use the following command:
+
+```shell
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_point_cloud:=true
+```
+
+#### Visualizing Depth Point Cloud in RViz2
+
+After running the above command, perform the following steps to visualize the depth point cloud:
+
+1. Open RViz2.
+2. Add a `PointCloud2` display.
+3. Select the `/camera/depth/points` topic for visualization.
+4. Set the fixed frame to `camera_link` to properly align the data
+
+#### Example Visualization
+
+Here is what the depth point cloud might look like in RViz2:
+
+![Depth Point VIEW](../image/image5.jpg)
+
+### Enabling Colored Point Cloud
+
+#### Command to Enable Colored Point Cloud
+
+To enable the colored point cloud feature, enter the following command:
+
+```shell
+ros2 launch orbbec_camera gemini_330_series.launch.py enable_colored_point_cloud:=true
+```
+
+#### Visualizing Colored Point Cloud in RViz2
+
+To visualize the colored point cloud data:
+
+1. Launch RViz2 following the command execution.
+2. Add a `PointCloud2` display panel.
+3. Choose the `/camera/depth_registered/points` topic from the list.
+4. Ensure the fixed frame is set to `camera_link`.
+
+#### Example Visualization
+
+The result of the colored point cloud in RViz2 should look similar to this:
+
+![Color Point VIEW](../image/image6.jpg)
 
 ## TF tree diagram
 
@@ -139,7 +261,7 @@ To get the TF tree
 ros2 run rqt_tf_tree rqt_tf_tree --force-discover
 ```
 
-&nbsp;
+ 
 
 The TF tree diagram for the OrbbecSDK_ROS2 is illustrated below:
-![single_cam_tf.png](../image/single_cam_tf.png)
+![single_cam_tf.png](../image/single_cam_tf.png) `<!-- docs/source/3_start_single_camera/start_single_camera.md -->`

docs/source/5_advanced/gdb_debug.md

@@ -18,6 +18,20 @@ Install xterm
 sudo apt install xterm
 ```
 
-Take gemini_330_series.launch.py as an example to use xterm terminal to open gdb
-
-![Multi_camera1](../image/gdb_1.png)
+Take orbbec_camera.launch.py as an example to use xterm terminal to open gdb
+
+```python
+    def create_composable_node(camera_name, params, use_intra_process):
+        common_arguments = [{'use_intra_process_comms': use_intra_process}]
+        composable_node = ComposableNode(
+                namespace=camera_name,
+                name=camera_name,
+                package=default_package_name,
+                plugin='orbbec_camera::OBCameraNodeDriver',
+                parameters=params,
+                #extra_arguments=[{'use_intra_process_comms': LaunchConfiguration("use_intra_process_comms")}],
+                extra_arguments=common_arguments,
+                prefix=['xterm -e gdb -ex run --args'],
+            )
+        return composable_node
+```

docs/source/6_tools/tools.md

@@ -52,18 +52,44 @@ This tool will save the color and left IR images of each camera and the timestam
 
 The configuration parameter file of this tool node is multi_save_rgbir_params.json
 
-![Multi_camera1](../image/multi_save_rgbir_node1.png)
+```json
+{
+    "save_rgbir_params": {
+        "time_domain": "device",
+        "usb_ports": [
+            "2-3",
+            "2-1"
+        ],
+        "camera_name": [
+            "G330_0",
+            "G330_1"
+        ]
+    }
+}
+```
 
-* The parameter order of usb_ports: "Host", "Slave 1", "Slave 2", "Slave 3". Fill in as many usb_ports as there are cameras.
-* ir_topics and color_topics are topic names. Fill in as many names as there are cameras.
+* time_domain: timestamp type
+* usb_ports parameter order: "host", "slave 1", "slave 2", "slave 3", fill in as many usb_ports as there are cameras
+* camera_name: the name set for the camera, for example: G330_0
 
 ## metadata_save_files_node
 
 The metadata_save_files_node tool will save the depth, left and right IR, images and metadata data
 
 The configuration parameter file of this tool node is metadata_save_params.json
 
-![Multi_camera1](../image/metadata_save_params.png)
+```json
+{
+    "metadata_save_params": {
+        "left_ir_image_topic": "/camera/left_ir/image_raw",
+        "right_ir_image_topic": "/camera/right_ir/image_raw",
+        "depth_image_topic": "/camera/depth/image_raw",
+        "left_ir_metadata_topic": "/camera/left_ir/metadata",
+        "right_ir_metadata_topic": "/camera/right_ir/metadata",
+        "depth_metadata_topic": "/camera/depth/metadata"
+    }
+}
+```
 
 ```bash
 ros2 run orbbec_camera metadata_save_files_node
@@ -75,7 +101,21 @@ The metadata_save_files_node tool will save depth, color, left and right IR imag
 
 The configuration parameter file of this tool node is metadata_save_params.json
 
-![Multi_camera1](https://file+.vscode-resource.vscode-cdn.net/home/jj/openSDK/opensdk_ros2/src/OrbbecSDK_ROS2/docs/source/image/metadata_save_params.png)
+```json
+{
+    "metadata_export_params": {
+        "sn": "CP1L44P00085",
+        "left_ir_image_topic": "/camera/left_ir/image_raw",
+        "right_ir_image_topic": "/camera/right_ir/image_raw",
+        "depth_image_topic": "/camera/depth/image_raw",
+        "color_image_topic": "/camera/color/image_raw",
+        "left_ir_metadata_topic": "/camera/left_ir/metadata",
+        "right_ir_metadata_topic": "/camera/right_ir/metadata",
+        "depth_metadata_topic": "/camera/depth/metadata",
+        "color_metadata_topic": "/camera/color/metadata"
+    }
+}
+```
 
 ```bash
 ros2 run orbbec_camera metadata_export_files_node

orbbec_camera/launch/gemini_330_series.launch.py

@@ -168,7 +168,7 @@ def generate_launch_description():
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_3d_reconstruction_mode', default_value='false'),
         DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
-        DeclareLaunchArgument('time_domain', default_value='device'),
+        DeclareLaunchArgument('time_domain', default_value='global'),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -439,11 +439,6 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
 
   if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
     TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
-    sync_host_time_timer_ = this->create_wall_timer(std::chrono::seconds(60 * 60 * 2), [this]() {
-      if (device_) {
-        TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
-      }
-    });
   }
 
   RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected");