Update FAQ documentation

Author: ob-yalian

docs/en/source/camera_devices/8_FAQ/FAQ.md

@@ -2,9 +2,10 @@
 
 ### Unexpected Crash
 
-If the camera node crashes unexpectedly, it will generate a crash log in the current running directory: `~/.ros/Log/camera_crash_stack_trace_xx.log`. Additionally, **regardless of whether the camera node crashes or not**, the OrbbecSDK will always generate a log file: `~/.ros/Log/OrbbecSDK.log.txt`, which contains detailed records of the SDK's operations.
-
-Please send these log files to the support team or submit them to a GitHub issue for further assistance.
+- If you encounter other problems, set the `log_level` parameter to `debug`. This will generate the SDK log file in the run directory: `~/.ros/Log/OrbbecSDK.log.txt`.
+  Please provide this file to the support team for further assistance.
+- If firmware logs are required, set the `log_level` parameter to `debug` and set `enable_heartbeat` to `true` to activate this feature.
+- If you set the `log_level` parameter to `debug` and do not want the terminal to refresh too many logs, you can change `output="screen"` to `output="log"` in `launch`, and the logs will be saved in the `~/.ros/log` directory.
 
 ### No Data Stream from Multiple Cameras
 
@@ -87,3 +88,42 @@ Multi-camera systems place high demands on USB bandwidth and device initializati
   When invoking stream control services (such as `set_streams_enable`, `toggle_depth`, and `toggle_color`), avoid triggering multiple service calls at the same time. Instead, introduce a reasonable interval between operations (e.g., **20 ms**) to ensure reliable stream state transitions.
 
 Following these timing control guidelines can significantly improve the stability of multi-camera systems during startup and runtime, reducing errors and unexpected behavior.
+
+### The image does not reach the preset frame rate
+
+First you need to confirm whether the image does not reach the preset frame rate. There are several ways to view framerate in ROS 2, such as:
+
+* `ros2 topic hz`
+* `rqt`
+* Custom tools (such as the `benchmark` tool provided by this ROS package)
+
+It should be noted that different tools have different statistical methods and QoS configurations, so the frame rate results obtained may be different. When you find that the frame rate is lower than expected, please prioritize whether the error is caused by the frame rate statistics tool itself.
+
+If you confirm that the image frame rate does not reach the preset value, you can try the following troubleshooting steps:
+
+1. **Reduce the resolution or frame rate** to determine whether the frame rate is reduced due to USB/network bandwidth limitations;
+2. **Confirm whether the camera firmware version and ROS package version are the latest**. Older versions may have performance or compatibility issues.
+
+If the above methods still cannot solve the problem, please contact our company **FAE**, or submit an issue in **GitHub Issue** for further support.
+
+
+### Issues related to soft trigger mode
+
+* **Each sensor does not flow out at the same time when the signal is triggered**
+  Please enable the frame aggregation function and set the parameter `frame_aggregate_mode` to `full_frame` to ensure that multiple sensor data are output synchronously under the same trigger.
+
+* **The preset frame rate cannot be reached in auto trigger mode**
+  When setting `software_trigger_period`, you need to consider the actual open stream frame rate and exposure time. For example, when `color_fps` is set to 10 FPS, `software_trigger_period` cannot be lower than the following calculated value:
+
+  ```
+  software_trigger_period ≥ 1000000 / fps × N + 2 × expo
+  ```
+
+  Among them:
+
+  * `fps`: sensor frame rate
+  * `N`: The number of frames collected in a single trigger
+  * `expo`: exposure time
+  * `Unit`: µs
+
+  If `software_trigger_period` is set too small, the trigger frequency will be limited, resulting in frame loss.

docs/zh/source/camera_devices/8_FAQ/FAQ.md

@@ -18,21 +18,20 @@
 
 ### 多相机无数据流
 
-**Insufficient Power Supply**:
+**电源供应不足**：
 
-- Ensure that each camera is connected to a separate hub.
-- Use a powered hub to provide sufficient power to each camera.
+- 确保每个相机连接到单独的集线器。
+- 使用有源集线器为每个相机提供足够的电力。
 
-**High Resolution**:
+**高分辨率**：
 
-- Try lowering the resolution to resolve data stream issues.
+- 尝试降低分辨率以解决数据流问题。
 
-**Increase usbfs_memory_mb Value**:
+**增加usbfs_memory_mb值**：
 
-- Increase the `usbfs_memory_mb` value to 128MB (this is a reference value and can be adjusted based on your system’s needs)
-  by running the following command:
+- 通过运行以下命令将 `usbfs_memory_mb` 值增加到128MB（这是参考值，可根据系统需求调整）：
 
-```bash
+```
     echo 128 | sudo tee /sys/module/usbcore/parameters/usbfs_memory_mb
 ```
 
@@ -63,7 +62,8 @@ find_package(OpenCV REQUIRED)
 
 - 如果您遇到其他问题，请将`log_level`参数设置为`debug`。这将在运行目录中生成SDK日志文件：`~/.ros/Log/OrbbecSDK.log.txt`。
   请将此文件提供给支持团队以获得进一步帮助。
-- 如果需要固件日志，请将`enable_heartbeat`设置为`true`以激活此功能。
+- 如果需要固件日志，将`log_level` 参数设置为 `debug`的同时，将 `enable_heartbeat` 设置为 `true` 以激活此功能。
+- 若将`log_level` 参数设置为 `debug`的同时，又不想终端刷新太多日志，可以在`launch`中将`output="screen"`改为`output="log"`，日志会被保存在`~/.ros/log`目录下。
 
 ### 为什么有这么多启动文件？
 
@@ -96,4 +96,43 @@ roslaunch orbbec_camera femto_bolt.launch serial_number:=CL8H741005J
 
   在调用开关流相关服务（如 `set_streams_enable`、`toggle_depth`、`toggle_color`）时，不建议同时触发多个接口调用，应在各操作之间设置合理的时间间隔（例如 **20 ms**），以保证流状态切换的可靠性。
 
-遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。
+遵循上述时序控制原则，有助于提升多相机系统在启动和运行过程中的稳定性，减少异常和不可预期行为的发生。
+
+### 图像未达到预设帧率
+
+首先需要确认图像是否确实未达到预设帧率。在 ROS 2 中可通过多种方式查看帧率，例如：
+
+* `ros2 topic hz`
+* `rqt`
+* 自定义工具（如本 ROS 包提供的 `benchmark` 工具）
+
+需要注意的是，不同工具的统计方式和 QoS 配置不同，因此得到的帧率结果可能存在差异。当发现帧率低于预期时，请优先排查是否为帧率统计工具本身导致的误差。
+
+若确认图像帧率确实未达到预设值，可尝试以下排查步骤：
+
+1. **降低分辨率或帧率**，判断是否由于 USB / 网络带宽受限导致帧率下降；
+2. **确认相机固件版本及 ROS 包版本是否为最新**，旧版本可能存在性能或兼容性问题。
+
+若以上方法仍无法解决问题，请联系我司 **FAE**，或在 **GitHub Issue** 中提交问题以获得进一步支持。
+
+
+### 软触发模式相关问题
+
+* **信号触发时各传感器未同时出流**
+  请开启帧汇聚功能，将参数`frame_aggregate_mode`设置为`full_frame`，以保证多传感器数据在同一次触发下同步输出。
+
+* **自动触发模式下无法达到预设帧率**
+  设置 `software_trigger_period` 时，需要综合考虑实际开流帧率与曝光时间。例如，当 `color_fps` 设置为 10 FPS 时，`software_trigger_period` 不能低于以下计算值：
+
+  ```
+  software_trigger_period ≥ 1000000 / fps × N + 2 × expo
+  ```
+
+  其中：
+
+  * `fps`：传感器帧率
+  * `N`：单次触发采集的帧数量
+  * `expo`：曝光时间
+  * `单位`：µs
+
+  若 `software_trigger_period` 设置过小，将导致触发频率受限，从而丢帧。