Meeting problem in external trigger mode on Gemini335L

[AnthonyCR68]

System Environment

• Hardware Info: Please provide system hardware details, such as:
  • CPU architecture (arm64)
  • CPU model (NVIDIA Jetson Orin)
  • Memory size ( 32GB)
  • GPU model if available ( Integrated GPU)
• Ubuntu Version: Please provide the ubuntu version you are using ( ubuntu22.04)
• ROS Version: Please provide the version of ROS you are using (ROS 2 Humble)
• Camera Model: Please provide the model of camera you are using (Gemini 335L)
• Firmware Version: Please provide the firmware version you are using(v1.6.00).
• Branch: Please provide the branch you are using (v2-main)

Description

I am using an Nvidia Jetson Orin device and a Gemini335L. I am generating a 10Hz PPS pulse signal through a time synchronization box. I plan to set the Gemini335L to external trigger mode and use a ROS2 driver to synchronously acquire RGB and depth images. My launch file is as follows: However, I have encountered the following problems:

(1) When my PPS signal is set to 3.3V and connected to the 8-pin interface, I observed that on my laptop, whether using Windows OrbbecViewer, Ubuntu 20.04 OrbbecViewer, or Ubuntu 20.04 ROS1, the camera's external trigger acquisition frequency is a stable 10Hz. However, on the Nvidia Jetson Orin device (Ubuntu 22.04), both OrbbecViewer and ROS2 Humble show 10.9Hz. Subsequently, I added a step-down module to reduce the voltage from 3.3V to 1.8V, and only then did the camera frame rate on the Nvidia Jetson Orin device stabilize at 10Hz. Is the voltage of the external trigger pulse actually the reason why the Nvidia Jetson Orin device's image acquisition frequency is incorrect?

(2) Ideally, the RGB and depth images should be aligned in timestamps. However, after setting 'depth_registration', 'enable_point_cloud', 'enable_colored_point_cloud', 'enable_color_auto_exposure', 'disparity_to_depth_mode', 'HW', 'sync_mode', 'hardware_triggering', 'enable_frame_sync', 'align_mode', 'HW', 'align_target_stream', 'COLOR', 'enable_sync_host_time', 'true', and 'intra_camera_sync_reference', I still cannot get the timestamps of the RGB and depth images aligned in timestamps.

Below is a MESE-level IMU, also triggered externally via a time synchronization box with a 100Hz PPS output. Ideally, the depth and RGB timestamps should be aligned, and the camera's timestamp should align with the IMU's timestamp every 0.1 seconds. However, the depth and RGB timestamps are not aligned; in fact, the RGB timestamp lags behind the depth timestamp by about 10ms. How should I configure the launcher to align the RGB and depth timestamps?
My launcher file is as follows.
gemini_330_series.launch.py

[huyugit]

I need some infomation for the first problem, please turn on the hearbeat(as follow picture), and then turn on streams, atfer the stream up to 10.9fps more then 30 senconds, then got the latest SDK log:

[ob-yalian]

@AnthonyCR68 We checked the synchronization using rqt_bag.
On the right panel, the raw message timestamps (header.stamp) of RGB and depth are actually very close to each other. However, on the left timeline, rqt_bag shows a much larger interval between the messages.