I am attempting to access both IR streams on the gemini 2l, however I can only access INFRA0 (with enable_ir) and not INFRA1 and INFRA2. I would like to to able to publish both IR streams separately. I receive the following output with the ROS2/SDK API not recognizing OB_STREAM_IR_LEFT and OB_STREAM_IR_RIGHT
ros2 launch orbbec_camera gemini2L.launch.py
[INFO] [launch]: All log files can be found below /home/papadrew/.ros/log/2026-04-03-22-05-04-424133-braheducation-44348
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [component_container-1]: process started with pid [44365]
[component_container-1] [INFO] [1775268304.837617017] [camera.camera_container]: Load Library: /home/papadrew/source/ros_ws/install/orbbec_camera/lib/liborbbec_camera.so
[component_container-1] [INFO] [1775268304.879327987] [camera.camera_container]: Found class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1775268304.879367914] [camera.camera_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<orbbec_camera::OBCameraNodeDriver>
[component_container-1] [INFO] [1775268304.887776418] [camera.camera]: Device access mode: Default (4)
[component_container-1] [INFO] [1775268304.887829019] [camera.camera]: setUvcBackendType:libuvc
[component_container-1] [INFO] [1775268307.157055433] [camera.camera]: startDevice called
[INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/camera/camera' in container '/camera/camera_container'
[component_container-1] [INFO] [1775268307.257344476] [camera.camera]: Connecting to the default device
[component_container-1] [INFO] [1775268307.261765912] [camera.camera]: Select device cost 4 ms
[component_container-1] [INFO] [1775268307.261824100] [camera.camera]: Try to connect device via USB3.0
[component_container-1] [INFO] [1775268307.261913784] [camera.camera]: OBCameraNode: use_intra_process: OFF
[component_container-1] [INFO] [1775268307.417428496] [camera.camera]: current time domain: global
[component_container-1] [INFO] [1775268307.417458333] [camera.camera]: hdr_index1_laser_control_ 1 hdr_index1_depth_exposure_ 1 hdr_index1_depth_gain_ 16 hdr_index1_ir_brightness_ 30 hdr_index1_ir_ae_max_exposure_ 30458
[component_container-1]
[component_container-1] [INFO] [1775268307.417462605] [camera.camera]: hdr_index0_laser_control_ 1 hdr_index0_depth_exposure_ 7500 hdr_index0_depth_gain_ 16 hdr_index0_ir_brightness_ 90 hdr_index0_ir_ae_max_exposure_ 30458
[component_container-1]
[component_container-1] [INFO] [1775268307.417466048] [camera.camera]: laser_index1_laser_control_ 0 laser_index1_depth_exposure_ 3000 laser_index1_depth_gain_ 16 laser_index1_ir_brightness_ 60 laser_index1_ir_ae_max_exposure_ 7000
[component_container-1]
[component_container-1] [INFO] [1775268307.417469565] [camera.camera]: laser_index0_laser_control_ 1 laser_index0_depth_exposure_ 3000 laser_index0_depth_gain_ 16 laser_index0_ir_brightness_ 60 laser_index0_ir_ae_max_exposure_ 17000
[component_container-1]
[component_container-1] [INFO] [1775268307.417496102] [camera.camera]: depthModeList[0]: Unbinned Dense Default
[component_container-1] [INFO] [1775268307.417501183] [camera.camera]: depthModeList[1]: Dimensioning
[component_container-1] [INFO] [1775268307.417503863] [camera.camera]: depthModeList[2]: Binned Sparse Default
[component_container-1] [INFO] [1775268307.417506557] [camera.camera]: depthModeList[3]: Unbinned Sparse Default
[component_container-1] [INFO] [1775268307.417509214] [camera.camera]: depthModeList[4]: In-scene Calibration
[component_container-1] [INFO] [1775268307.417522070] [camera.camera]: Set device preset: Unbinned Dense Default
[component_container-1] [INFO] [1775268307.440163160] [camera.camera]: OB_STREAM_IR_LEFTsensor isn't supported by current device! -- Skipping...
[component_container-1] [INFO] [1775268307.440217442] [camera.camera]: OB_STREAM_IR_RIGHTsensor isn't supported by current device! -- Skipping...
[component_container-1] [INFO] [1775268307.440224349] [camera.camera]: Setting heartbeat to OFF
[component_container-1] [INFO] [1775268307.440468665] [camera.camera]: Depth process is SW
[component_container-1] [INFO] [1775268307.440492788] [camera.camera]: Setting LDP to ON
[component_container-1] [INFO] [1775268307.440635881] [camera.camera]: Setting laser control to 1
[component_container-1] [INFO] [1775268307.440774491] [camera.camera]: Current sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1775268307.440793740] [camera.camera]: Set sync mode: OB_MULTI_DEVICE_SYNC_MODE_STANDALONE
[component_container-1] [INFO] [1775268307.440803129] [camera.camera]: Setting color mirror to OFF
[component_container-1] [INFO] [1775268307.440826909] [camera.camera]: Setting color flip to OFF
[component_container-1] [INFO] [1775268307.440837427] [camera.camera]: Setting depth mirror to OFF
[component_container-1] [INFO] [1775268307.440846204] [camera.camera]: Setting depth flip to OFF
[component_container-1] [INFO] [1775268307.440856559] [camera.camera]: Setting noise removal filter:ON
[component_container-1] [INFO] [1775268307.440862574] [camera.camera]: Setting color auto white balance to ON
[component_container-1] [INFO] [1775268307.440929593] [camera.camera]: Setting color auto exposure to ON
[component_container-1] [INFO] [1775268307.442576259] [camera.camera]: Setting IR auto exposure to ON
[component_container-1] [INFO] [1775268307.447355671] [camera.camera]: default noise removal filter min diff: 256
[component_container-1] [INFO] [1775268307.447390076] [camera.camera]: default noise removal filter max size: 200
[component_container-1] [INFO] [1775268307.447397512] [camera.camera]: Setting accel data correction to ON
[component_container-1] [INFO] [1775268307.447404357] [camera.camera]: Setting gyro data correction to ON
[component_container-1] [INFO] [1775268307.447604095] [camera.camera]: Setting EdgeNoiseRemovalFilter......
[component_container-1] [INFO] [1775268307.447668458] [camera.camera]: Skip setting filter: EdgeNoiseRemovalFilter
[component_container-1] [INFO] [1775268307.447681082] [camera.camera]: Setting SpatialAdvancedFilter......
[component_container-1] [INFO] [1775268307.447689125] [camera.camera]: set SpatialAdvancedFilter to false
[component_container-1] [INFO] [1775268307.447706445] [camera.camera]: Skip setting filter: SpatialAdvancedFilter
[component_container-1] [INFO] [1775268307.447713862] [camera.camera]: Setting TemporalFilter......
[component_container-1] [INFO] [1775268307.447720270] [camera.camera]: set TemporalFilter to false
[component_container-1] [INFO] [1775268307.447725624] [camera.camera]: Skip setting filter: TemporalFilter
[component_container-1] [INFO] [1775268307.447732406] [camera.camera]: Setting HoleFillingFilter......
[component_container-1] [INFO] [1775268307.447737590] [camera.camera]: set HoleFillingFilter to false
[component_container-1] [INFO] [1775268307.447743072] [camera.camera]: Skip setting filter: HoleFillingFilter
[component_container-1] [INFO] [1775268307.447749799] [camera.camera]: Setting DisparityTransform......
[component_container-1] [INFO] [1775268307.447754661] [camera.camera]: set DisparityTransform to true
[component_container-1] [INFO] [1775268307.447759705] [camera.camera]: Skip setting filter: DisparityTransform
[component_container-1] [INFO] [1775268307.447766368] [camera.camera]: Setting ThresholdFilter......
[component_container-1] [INFO] [1775268307.447771069] [camera.camera]: set ThresholdFilter to false
[component_container-1] [INFO] [1775268307.447776168] [camera.camera]: Skip setting filter: ThresholdFilter
[component_container-1] [WARN] [1775268307.448583128] [camera.camera]: Failed to get any color sensor filter list
[component_container-1] [INFO] [1775268307.450358957] [camera.camera]: stream gyro full scale range 1000dps sample rate 100hz
[component_container-1] [INFO] [1775268307.450389093] [camera.camera]: stream accel full scale range 4g sample rate 100hz
[component_container-1] [INFO] [1775268307.478497495] [camera.camera]: Publish diagnostics every 1 seconds
[component_container-1] [ERROR] [1775268307.999079474] [camera.camera]: Error in initializeDevice at line 982: syncDeviceTime failed after retry
[component_container-1] times, rtt=1611
[component_container-1] [INFO] [1775268307.999161702] [camera.camera]: Device Orbbec Gemini 2 L connected
[component_container-1] [INFO] [1775268307.999166063] [camera.camera]: Serial number: AY8L2410053
[component_container-1] [INFO] [1775268307.999170061] [camera.camera]: Firmware version: 1.4.38
[component_container-1] [INFO] [1775268307.999172478] [camera.camera]: ROS Wrapper version: 2.7.6
[component_container-1] [INFO] [1775268307.999181689] [camera.camera]: SDK version: 2.7.6
[component_container-1] [INFO] [1775268307.999185243] [camera.camera]: Hardware version: 1.0
[component_container-1] [INFO] [1775268307.999187964] [camera.camera]: usb connect type: USB3.0
[component_container-1] [INFO] [1775268307.999190146] [camera.camera]: device unique id: 2-4-8
[component_container-1] [INFO] [1775268307.999194826] [camera.camera]: Current node pid: 44365
[component_container-1] [INFO] [1775268307.999197552] [camera.camera]: Start device cost 842 ms
[component_container-1] [INFO] [1775268308.005053688] [camera.camera]: start accel stream with range: 4g,rate:100hz, and start gyro stream with range:1000dps,rate:100hz
[component_container-1] [INFO] [1775268308.005130727] [camera.camera]: set align mode to ALIGN_D2C_HW_MODE
[component_container-1] [INFO] [1775268308.005137939] [camera.camera]: enable depth scale ON
[component_container-1] [INFO] [1775268308.005143952] [camera.camera]: Enable color stream
[component_container-1] [INFO] [1775268308.005153296] [camera.camera]: Enable depth stream
[component_container-1] [INFO] [1775268308.027426303] [camera.camera]: Enable frame sync
[component_container-1] [INFO] [1775268308.108278526] [camera.camera]: Publishing static transform from color to depth
[component_container-1] [INFO] [1775268308.108306569] [camera.camera]: Translation 25.0769, 0.00603676, -0.0667314
[component_container-1] [INFO] [1775268308.108318466] [camera.camera]: Rotation -0.000807472, -5.49773e-05, 0.000117619, 1
[component_container-1] [INFO] [1775268308.108332311] [camera.camera]: Publishing static transform from depth to depth
[component_container-1] [INFO] [1775268308.108336391] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1775268308.108340454] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1775268308.108356809] [camera.camera]: Publishing static transform from accel to depth
[component_container-1] [INFO] [1775268308.108360126] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1775268308.108363464] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1775268308.108378890] [camera.camera]: Publishing static transform from gyro to depth
[component_container-1] [INFO] [1775268308.108382210] [camera.camera]: Translation 0, 0, 0
[component_container-1] [INFO] [1775268308.108385426] [camera.camera]: Rotation 0, 0, 0, 1
[component_container-1] [INFO] [1775268308.108447932] [camera.camera]: Color Frame - Width: 1280 Height: 720 fps: 30 Format: MJPG
[component_container-1] [INFO] [1775268308.628463461] [camera.camera]: Depth Frame - Width: 1280 Height: 720 fps: 30 Format: Y16
[component_container-1] [INFO] [1775268309.027656632] [camera.camera]: Setting interleave mode to nothing
[component_container-1] [INFO] [1775268309.027703352] [camera.camera]: current interleave_ae_mode_: hdr
[component_container-1] [INFO] [1775268309.027713448] [camera.camera]: Initialize device cost 1765 ms
System Environment
v2-mainDescription
I am attempting to access both IR streams on the gemini 2l, however I can only access INFRA0 (with enable_ir) and not INFRA1 and INFRA2. I would like to to able to publish both IR streams separately. I receive the following output with the ROS2/SDK API not recognizing OB_STREAM_IR_LEFT and OB_STREAM_IR_RIGHT