OrbbecSDK_ROS2/orbbec_camera/scripts/default_service.yaml

default_count: 50

services:
- name: /camera/get_auto_white_balance
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_color_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_color_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_depth_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_depth_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_device_info
  type: orbbec_camera_msgs/srv/GetDeviceInfo
- name: /camera/get_ldp_status
  type: orbbec_camera_msgs/srv/GetBool
- name: /camera/get_lrm_measure_distance
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_sdk_version
  type: orbbec_camera_msgs/srv/GetString
- name: /camera/get_streams_enable
  type: orbbec_camera_msgs/srv/GetBool
- name: /camera/get_white_balance
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/save_images
  type: std_srvs/srv/Empty
- name: /camera/save_point_cloud
  type: std_srvs/srv/Empty



- name: /camera/send_software_trigger
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_auto_white_balance
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_color_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 30}
- name: /camera/set_color_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 20}
- name: /camera/set_color_mirror
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_color_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}
- name: /camera/set_depth_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_depth_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_depth_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 3000}
- name: /camera/set_depth_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_depth_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 200}
- name: /camera/set_depth_mirror
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_depth_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}
- name: /camera/set_filter
  type: orbbec_camera_msgs/srv/SetFilter
  request: {filter_name: DecimationFilter,filter_enable: false,filter_param: [5]}
- name: /camera/set_laser_enable
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_ldp_enable
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_reset_timestamp
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_streams_enable
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_sync_hosttime
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_sync_interleaverlaser
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 1}
- name: /camera/set_white_balance
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 3000}
- name: /camera/toggle_color
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/toggle_depth
  type: std_srvs/srv/SetBool
  request: {data: false}

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



# open according to your camera type

# - name: /camera/get_ptp_config
#   type: orbbec_camera_msgs/srv/GetBool
# - name: /camera/set_ptp_config
#   type: std_srvs/srv/SetBool
#   request: {data: false}
# - name: /camera/set_floor_enable
#   type: std_srvs/srv/SetBool
#   request: {data: false}
# - name: /camera/set_fan_work_mode
#   type: orbbec_camera_msgs/srv/SetInt32
#   request: {data: 0}
# - name: /camera/set_ir_long_exposure
#   type: std_srvs/srv/SetBool
#   request: {data: false}
# - name: /camera/switch_ir
#   type: orbbec_camera_msgs/srv/SetString
#   request: {data: left}

# 435Le support
# - name: /camera/get_user_calib_params
#   type: orbbec_camera_msgs/srv/GetUserCalibParams
# - name: /camera/set_user_calib_params
#   type: orbbec_camera_msgs/srv/SetUserCalibParams
# - name: /camera/write_customer_data
#   type: orbbec_camera_msgs/srv/SetString
# - name: /camera/read_customer_data
#   type: orbbec_camera_msgs/srv/GetString

# 335 support
- name: /camera/get_left_ir_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_left_ir_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_right_ir_exposure
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/get_right_ir_gain
  type: orbbec_camera_msgs/srv/GetInt32
- name: /camera/set_left_ir_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_left_ir_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_left_ir_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 30}
- name: /camera/set_left_ir_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_left_ir_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 20}
- name: /camera/set_left_ir_mirror
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_left_ir_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}
- name: /camera/set_right_ir_ae_roi
  type: orbbec_camera_msgs/srv/SetArrays
  request: {data_param: [0,1279,0,719]}
- name: /camera/set_right_ir_auto_exposure
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_right_ir_exposure
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 30}
- name: /camera/set_right_ir_flip
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_right_ir_gain
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 20}
- name: /camera/set_right_ir_mirror
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/set_right_ir_rotation
  type: orbbec_camera_msgs/srv/SetInt32
  request: {data: 90}
- name: /camera/toggle_left_ir
  type: std_srvs/srv/SetBool
  request: {data: false}
- name: /camera/toggle_right_ir
  type: std_srvs/srv/SetBool
  request: {data: false}