OrbbecSDK_ROS2/orbbec_camera/scripts/default_service.yaml

default_count: 50

services:
# - name: /camera/set_filter
#   type: orbbec_camera_msgs/srv/SetFilter
#   request: {filter_name: DecimationFilter,filter_enable: false,filter_param: [5]}

- name: /camera/set_depth_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 3000}

- name: /camera/get_depth_exposure
  type: orbbec_camera_msgs/srv/GetInt32

- name: /camera/set_depth_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}

# - name: /camera/reset_depth_exposure
#   type: std_srvs/Empty

- name: /camera/get_depth_gain
  type: orbbec_camera_msgs/srv/GetInt32

- name: /camera/set_depth_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 200}

# - name: /camera/reset_depth_gain
#   type: std_srvs/Empty

- name: /camera/set_depth_mirror
  type: std_srvs/SetBool
  request: {data: false}

- name: /camera/set_depth_flip
  type: std_srvs/SetBool
  request: {data: false}

- name: /camera/set_depth_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}

- name: /camera/set_depth_auto_exposure
  type: std_srvs/SetBool
  request: {data: false}

# - name: /camera/get_depth_auto_exposure
#   type: orbbec_camera_msgs/srv/GetBool

# - name: /camera/toggle_depth
#   type: std_srvs/SetBool
#   request: {data: true}

# - name: /camera/get_depth_camera_info
#   type: orbbec_camera_msgs/srv/GetCameraInfo

- name: /camera/get_color_exposure
  type: orbbec_camera_msgs/srv/GetInt32

- name: /camera/set_color_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 30}

- name: /camera/set_color_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}

# - name: /camera/reset_color_exposure
#   type: std_srvs/Empty

- name: /camera/get_color_gain
  type: orbbec_camera_msgs/srv/GetInt32

- name: /camera/set_color_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 20}

# - name: /camera/reset_color_gain
#   type: std_srvs/Empty

- name: /camera/set_color_mirror
  type: std_srvs/SetBool
  request: {data: false}

- name: /camera/set_color_flip
  type: std_srvs/SetBool
  request: {data: false}

- name: /camera/set_color_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}

- name: /camera/set_color_auto_exposure
  type: std_srvs/SetBool
  request: {data: false}

# - name: /camera/get_color_auto_exposure
#   type: orbbec_camera_msgs/srv/GetBool

# - name: /camera/toggle_color
#   type: std_srvs/SetBool
#   request: {data: true}

# - name: /camera/get_color_camera_info
#   type: orbbec_camera_msgs/srv/GetCameraInfo

- name: /camera/get_auto_white_balance
  type: orbbec_camera_msgs/srv/GetInt32

# - name: /camera/set_auto_white_balance
#   type: orbbec_camera_msgs/srv/SetInt32
#   request: {data: 0}

- name: /camera/get_white_balance
  type: orbbec_camera_msgs/srv/GetInt32

# - name: /camera/set_white_balance
#   type: orbbec_camera_msgs/srv/SetInt32
#   request: {data: 3000}

# - name: /camera/reset_white_balance
#   type: std_srvs/Empty

# - name: /camera/set_laser
#   type: std_srvs/SetBool
#   request: {data: true}

# - name: /camera/set_ldp
#   type: std_srvs/SetBool
#   request: {data: false}

- name: /camera/get_ldp_status
  type: orbbec_camera_msgs/srv/GetBool

- name: /camera/get_device_info
  type: orbbec_camera_msgs/srv/GetDeviceInfo

# - name: /camera/get_camera_params
#   type: orbbec_camera_msgs/srv/GetCameraParams

- name: /camera/get_sdk_version
  type: orbbec_camera_msgs/srv/GetString

- name: /camera/save_point_cloud
  type: std_srvs/Empty

- name: /camera/save_images
  type: std_srvs/Empty

- name: /camera/get_lrm_measure_distance
  type: orbbec_camera_msgs/srv/GetInt32

# - name: /camera/reboot_device
#   type: std_srvs/Empty

# - name: /camera/color/set_camera_info
#   type: sensor_msgs/SetCameraInfo

# - name: /camera/ir/set_camera_info
#   type: sensor_msgs/SetCameraInfo

# - name: /camera/set_ptp_config
#   type: std_srvs/SetBool
#   request: {data: false}

# - name: /camera/get_ptp_config
#   type: orbbec_camera_msgs/srv/GetBool

# - name: /camera/set_fan_work_mode
#   type: std_srvs/SetBool
#   request: {data: false}

# - name: /camera/set_flood
#   type: std_srvs/SetBool
#   request: {data: false}

# - name: /camera/switch_ir_mode
#   type: orbbec_camera_msgs/srv/SetInt32

# - name: /camera/switch_ir
#   type: orbbec_camera_msgs/srv/SetString

# - name: /camera/set_write_customer_data
#   type: orbbec_camera_msgs/srv/SetString

# - name: /camera/set_read_customer_data
#   type: orbbec_camera_msgs/srv/GetString