OrbbecSDK_ROS2/zh/.doctrees/source/4_application_guide/services.doctree

€•ÉŽŒdocutils.nodes”Œdocument”“”)�”}”(Œ	rawsource”Œ”Œchildren”]”hŒsection”“”)�”}”(hhh]”(hŒtitle”“”)�”}”(hŒ!所有å�¯ç”¨çš„相机控制æœ�务”h]”hŒText”“”Œ!所有å�¯ç”¨çš„相机控制æœ�务”…”�”}”(Œparent”hŒ	_document”hŒsource”Œ^/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/zh/source/4_application_guide/services.md”Œline”KubaŒ
attributes”}”(Œids”]”Œclasses”]”Œnames”]”Œdupnames”]”Œbackrefs”]”uŒtagname”hhK
hhhhubhŒblock_quote”“”)�”}”(hhh]”hŒ	paragraph”“”)�”}”(hŒ�注æ„�： 与特定数æ�®æµ�相关的æœ�务（例如 /camera/set_color_*）仅在å�¯åŠ¨æ–‡ä»¶ä¸­å�¯ç”¨è¯¥æ•°æ�®æµ�æ—¶å�¯ç”¨ï¼ˆä¾‹å¦‚ enable_color:=true）。”h]”(hŒstrong”“”)�”}”(hŒ	注æ„�：”h]”hŒ	注æ„�：”…”�”}”(hh9hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h7hh3hhhhhKubhŒ, 与特定数æ�®æµ�相关的æœ�务（例如 ”…”�”}”(hh3hhhhhKubhŒliteral”“”)�”}”(hŒ/camera/set_color_*”h]”hŒ/camera/set_color_*”…”�”}”hhMsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhh3hhhhhKubhŒ=）仅在å�¯åŠ¨æ–‡ä»¶ä¸­å�¯ç”¨è¯¥æ•°æ�®æµ�æ—¶å�¯ç”¨ï¼ˆä¾‹å¦‚ ”…”�”}”(hh3hhhhhKubhL)�”}”(hŒenable_color:=true”h]”hŒenable_color:=true”…”�”}”hh_sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhh3hhhhhKubhŒ）。”…”�”}”(hh3hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhh.hhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+h,hKhhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒæ•°æ�®æµ�控制”h]”hŒæ•°æ�®æµ�控制”…”�”}”(hh€hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhKhh}hhubh
)�”}”(hhh]”(h)�”}”(hŒ	彩色æµ�”h]”hŒ	彩色æµ�”…”�”}”(hh‘hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhKhhŽhhubhŒbullet_list”“”)�”}”(hhh]”(hŒ	list_item”“”)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_color”h]”hL)�”}”(hŒ/camera/toggle_color”h]”hŒ/camera/toggle_color”…”�”}”hh­sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhh©hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhh¦hhhhubhŒ
literal_block”“”)�”}”(hŒJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”h]”hŒJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”…”�”}”hhÃsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”Œ	xml:space”Œpreserve”uh+hÁhh¦hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKhh¡hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/get_color_exposure & /camera/get_color_gain”h]”(hL)�”}”(hŒ/camera/get_color_exposure”h]”hŒ/camera/get_color_exposure”…”�”}”hhâsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhhÞhhhhhKubhŒ
 ”…”�”}”(hhÞhhhhhKubhŒ
&”…”�”}”(hhÞhhhhhKubhŒ
 ”…”�”}”(hhÞhhhhhKubhL)�”}”(hŒ/camera/get_color_gain”h]”hŒ/camera/get_color_gain”…”�”}”hhüsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhhÞhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhhÛhhhhubhÂ)�”}”(hŒŸros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒŸros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj
sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhhÛhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKhh¡hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_color_auto_exposure”h]”hL)�”}”(hŒ/camera/set_color_auto_exposure”h]”hŒ/camera/set_color_auto_exposure”…”�”}”hj-
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj)
hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhj&
hhhhubhÂ)�”}”(hŒUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjA
sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj&
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKhh¡hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/set_color_exposure & /camera/set_color_gain”h]”(hL)�”}”(hŒ/camera/set_color_exposure”h]”hŒ/camera/set_color_exposure”…”�”}”hj^
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjZ
hhhhhKubhŒ
 ”…”�”}”(hjZ
hhhhhKubhŒ
&”…”�”}”(hjZ
hhhhhKubhŒ
 ”…”�”}”(hjZ
hhhhhKubhL)�”}”(hŒ/camera/set_color_gain”h]”hŒ/camera/set_color_gain”…”�”}”hjx
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjZ
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhjW
hhhhubhÂ)�”}”(hŒ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjŒ
sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjW
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKhh¡hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒL/camera/set_color_mirror, /camera/set_color_flip, /camera/set_color_rotation”h]”(hL)�”}”(hŒ/camera/set_color_mirror”h]”hŒ/camera/set_color_mirror”…”�”}”hj©
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥
hhhhhKubhŒ, ”…”�”}”(hj¥
hhhhhKubhL)�”}”(hŒ/camera/set_color_flip”h]”hŒ/camera/set_color_flip”…”�”}”hj»
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥
hhhhhKubhŒ, ”…”�”}”(hj¥
hhhhhKubhL)�”}”(hŒ/camera/set_color_rotation”h]”hŒ/camera/set_color_rotation”…”�”}”hjÍ
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj¥
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKhj¢
hhhhubhÂ)�”}”(hŒöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŒöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hjá
sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj¢
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKhh¡hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_color_ae_roi”h]”hL)�”}”(hŒ/camera/set_color_ae_roi”h]”hŒ/camera/set_color_ae_roi”…”�”}”hjþ
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjú
hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK hj÷
hhhhubhÂ)�”}”(hŒ�# data_param: [å·¦, å�³, 上, 下]
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”h]”hŒ�# data_param: [å·¦, å�³, 上, 下]
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj÷
hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK hh¡hhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhKhhŽhhhhubeh}”(h!]”Œid3”ah#]”h%]”Œ	彩色æµ�”ah']”h)]”uh+h	hKhh}hhhhubh
)�”}”(hhh]”(h)�”}”(hŒ	深度æµ�”h]”hŒ	深度æµ�”…”�”}”(hj9hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK&hj6hhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_depth”h]”hL)�”}”(hŒ/camera/toggle_depth”h]”hŒ/camera/toggle_depth”…”�”}”hjQsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjMhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK'hjJhhhhubhÂ)�”}”(hŒJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”h]”hŒJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”…”�”}”hjesbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjJhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK'hjGhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/get_depth_exposure & /camera/get_depth_gain”h]”(hL)�”}”(hŒ/camera/get_depth_exposure”h]”hŒ/camera/get_depth_exposure”…”�”}”hj‚sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj~hhhhhKubhŒ
 ”…”�”}”(hj~hhhhhKubhŒ
&”…”�”}”(hj~hhhhhKubhŒ
 ”…”�”}”(hj~hhhhhKubhL)�”}”(hŒ/camera/get_depth_gain”h]”hŒ/camera/get_depth_gain”…”�”}”hjœsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj~hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK+hj{hhhhubhÂ)�”}”(hŒŸros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒŸros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj°sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj{hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK+hjGhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_depth_auto_exposure”h]”hL)�”}”(hŒ/camera/set_depth_auto_exposure”h]”hŒ/camera/set_depth_auto_exposure”…”�”}”hjÍsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjÉhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK0hjÆhhhhubhÂ)�”}”(hŒUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjásbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjÆhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK0hjGhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ3/camera/set_depth_exposure & /camera/set_depth_gain”h]”(hL)�”}”(hŒ/camera/set_depth_exposure”h]”hŒ/camera/set_depth_exposure”…”�”}”hjþsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjúhhhhhKubhŒ
 ”…”�”}”(hjúhhhhhKubhŒ
&”…”�”}”(hjúhhhhhKubhŒ
 ”…”�”}”(hjúhhhhhKubhL)�”}”(hŒ/camera/set_depth_gain”h]”hŒ/camera/set_depth_gain”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjúhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK4hj÷hhhhubhÂ)�”}”(hŒ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hj,sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj÷hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK4hjGhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒL/camera/set_depth_mirror, /camera/set_depth_flip, /camera/set_depth_rotation”h]”(hL)�”}”(hŒ/camera/set_depth_mirror”h]”hŒ/camera/set_depth_mirror”…”�”}”hjIsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjEhhhhhKubhŒ, ”…”�”}”(hjEhhhhhKubhL)�”}”(hŒ/camera/set_depth_flip”h]”hŒ/camera/set_depth_flip”…”�”}”hj[sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjEhhhhhKubhŒ, ”…”�”}”(hjEhhhhhKubhL)�”}”(hŒ/camera/set_depth_rotation”h]”hŒ/camera/set_depth_rotation”…”�”}”hjmsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjEhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK9hjBhhhhubhÂ)�”}”(hŒöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŒöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hj�sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjBhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK9hjGhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_depth_ae_roi”h]”hL)�”}”(hŒ/camera/set_depth_ae_roi”h]”hŒ/camera/set_depth_ae_roi”…”�”}”hjžsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjšhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK?hj—hhhhubhÂ)�”}”(hŒŒ# data_param: [å·¦, å�³, 上, 下]
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”h]”hŒŒ# data_param: [å·¦, å�³, 上, 下]
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”…”�”}”hj²sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj—hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK?hjGhhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK'hj6hhhhubeh}”(h!]”Œid4”ah#]”h%]”Œ	深度æµ�”ah']”h)]”uh+h	hK&hh}hhhhubh
)�”}”(hhh]”(h)�”}”(hŒ	红外æµ�”h]”hŒ	红外æµ�”…”�”}”(hjÙhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhKEhjÖhhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/toggle_ir”h]”hL)�”}”(hŒ/camera/toggle_ir”h]”hŒ/camera/toggle_ir”…”�”}”hjñsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjíhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKFhjêhhhhubhÂ)�”}”(hŒGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”h]”hŒGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjêhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKFhjçhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ-/camera/get_ir_exposure & /camera/get_ir_gain”h]”(hL)�”}”(hŒ/camera/get_ir_exposure”h]”hŒ/camera/get_ir_exposure”…”�”}”hj"sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjhhhhhKubhŒ
 ”…”�”}”(hjhhhhhKubhŒ
&”…”�”}”(hjhhhhhKubhŒ
 ”…”�”}”(hjhhhhhKubhL)�”}”(hŒ/camera/get_ir_gain”h]”hŒ/camera/get_ir_gain”…”�”}”hj<sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKKhjhhhhubhÂ)�”}”(hŒ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjPsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKKhjçhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_ir_auto_exposure”h]”hL)�”}”(hŒ/camera/set_ir_auto_exposure”h]”hŒ/camera/set_ir_auto_exposure”…”�”}”hjmsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjihhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKPhjfhhhhubhÂ)�”}”(hŒRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŒRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hj�sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjfhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKPhjçhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ-/camera/set_ir_exposure & /camera/set_ir_gain”h]”(hL)�”}”(hŒ/camera/set_ir_exposure”h]”hŒ/camera/set_ir_exposure”…”�”}”hjžsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjšhhhhhKubhŒ
 ”…”�”}”(hjšhhhhhKubhŒ
&”…”�”}”(hjšhhhhhKubhŒ
 ”…”�”}”(hjšhhhhhKubhL)�”}”(hŒ/camera/set_ir_gain”h]”hŒ/camera/set_ir_gain”…”�”}”hj¸sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjšhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKThj—hhhhubhÂ)�”}”(hŒ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŒ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjÌsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj—hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKThjçhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/switch_ir”h]”hL)�”}”(hŒ/camera/switch_ir”h]”hŒ/camera/switch_ir”…”�”}”hjésbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjåhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKYhjâhhhhubhÂ)�”}”(hŒSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”h]”hŒSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”…”�”}”hjýsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjâhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKYhjçhhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhKFhjÖhhhhubeh}”(h!]”Œid5”ah#]”h%]”Œ	红外æµ�”ah']”h)]”uh+h	hKEhh}hhhhubh
)�”}”(hhh]”(h)�”}”(hŒ所有数æ�®æµ�”h]”hŒ所有数æ�®æµ�”…”�”}”(hj$hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK^hj!hhubh )�”}”(hhh]”h¥)�”}”(hhh]”(h2)�”}”(hŒ7/camera/get_streams_enable & /camera/set_streams_enable”h]”(hL)�”}”(hŒ/camera/get_streams_enable”h]”hŒ/camera/get_streams_enable”…”�”}”hj<sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj8hhhhhKubhŒ
 ”…”�”}”(hj8hhhhhKubhŒ
&”…”�”}”(hj8hhhhhKubhŒ
 ”…”�”}”(hj8hhhhhKubhL)�”}”(hŒ/camera/set_streams_enable”h]”hŒ/camera/set_streams_enable”…”�”}”hjVsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj8hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK_hj5hhhhubhÂ)�”}”(hŒ¢ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”h]”hŒ¢ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”…”�”}”hjjsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj5hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK_hj2hhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK_hj!hhhhubeh}”(h!]”Œid6”ah#]”h%]”Œ所有数æ�®æµ�”ah']”h)]”uh+h	hK^hh}hhhhubeh}”(h!]”Œid2”ah#]”h%]”Œæ•°æ�®æµ�控制”ah']”h)]”uh+h	hKhhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒ传感器与å�‘射器控制”h]”hŒ传感器与å�‘射器控制”…”�”}”(hj™hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhKehj–hhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ?/camera/set_auto_white_balance & /camera/get_auto_white_balance”h]”(hL)�”}”(hŒ/camera/set_auto_white_balance”h]”hŒ/camera/set_auto_white_balance”…”�”}”hj±sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj­hhhhhKubhŒ
 ”…”�”}”(hj­hhhhhKubhŒ
&”…”�”}”(hj­hhhhhKubhŒ
 ”…”�”}”(hj­hhhhhKubhL)�”}”(hŒ/camera/get_auto_white_balance”h]”hŒ/camera/get_auto_white_balance”…”�”}”hjËsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj­hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKghjªhhhhubhÂ)�”}”(hŒªros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒªros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjßsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjªhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKghj§hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ5/camera/set_white_balance & /camera/get_white_balance”h]”(hL)�”}”(hŒ/camera/set_white_balance”h]”hŒ/camera/set_white_balance”…”�”}”hjüsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjøhhhhhKubhŒ
 ”…”�”}”(hjøhhhhhKubhŒ
&”…”�”}”(hjøhhhhhKubhŒ
 ”…”�”}”(hjøhhhhhKubhL)�”}”(hŒ/camera/get_white_balance”h]”hŒ/camera/get_white_balance”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjøhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKlhjõhhhhubhÂ)�”}”(hŒ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŒ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj*sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjõhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKlhj§hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_laser_enable”h]”hL)�”}”(hŒ/camera/set_laser_enable”h]”hŒ/camera/set_laser_enable”…”�”}”hjGsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjChhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKqhj@hhhhubhÂ)�”}”(hŒNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”h]”hŒNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hj[sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj@hhhhhKubh2)�”}”(hŒ/camera/get_laser_status”h]”hL)�”}”(hŒ/camera/get_laser_status”h]”hŒ/camera/get_laser_status”…”�”}”hjosbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjkhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKuhj@hhhhubhÂ)�”}”(hŒNros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'”h]”hŒNros2 service call /camera/get_laser_status orbbec_camera_msgs/srv/GetBool '{}'”…”�”}”hjƒsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj@hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKqhj§hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ//camera/set_ldp_enable & /camera/get_ldp_status”h]”(hL)�”}”(hŒ/camera/set_ldp_enable”h]”hŒ/camera/set_ldp_enable”…”�”}”hj sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjœhhhhhKubhŒ
 ”…”�”}”(hjœhhhhhKubhŒ
&”…”�”}”(hjœhhhhhKubhŒ
 ”…”�”}”(hjœhhhhhKubhL)�”}”(hŒ/camera/get_ldp_status”h]”hŒ/camera/get_ldp_status”…”�”}”hjºsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjœhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hKyhj™hhhhubhÂ)�”}”(hŒ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”h]”hŒ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”…”�”}”hjÎsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj™hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKyhj§hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_fan_work_mode”h]”hL)�”}”(hŒ/camera/set_fan_work_mode”h]”hŒ/camera/set_fan_work_mode”…”�”}”hjësbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjçhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK~hjähhhhubhÂ)�”}”(hŒWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŒWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hjÿsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjähhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK~hj§hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_floor_enable”h]”hL)�”}”(hŒ/camera/set_floor_enable”h]”hŒ/camera/set_floor_enable”…”�”}”hjsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK‚hjhhhhubhÂ)�”}”(hŒNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”h]”hŒNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hj0sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK‚hj§hhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhKghj–hhhhubeh}”(h!]”Œid7”ah#]”h%]”Œ传感器与å�‘射器控制”ah']”h)]”uh+h	hKehhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒ设备信æ�¯ä¸Žç®¡ç�†”h]”hŒ设备信æ�¯ä¸Žç®¡ç�†”…”�”}”(hjWhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK‡hjThhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/get_device_info”h]”hL)�”}”(hŒ/camera/get_device_info”h]”hŒ/camera/get_device_info”…”�”}”hjosbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjkhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK‰hjhhhhhubhÂ)�”}”(hŒNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”h]”hŒNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”…”�”}”hjƒsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjhhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK‰hjehhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/get_sdk_version”h]”hL)�”}”(hŒ/camera/get_sdk_version”h]”hŒ/camera/get_sdk_version”…”�”}”hj sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjœhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK�hj™hhhhubhÂ)�”}”(hŒJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”h]”hŒJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”…”�”}”hj´sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj™hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK�hjehhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/reboot_device”h]”hL)�”}”(hŒ/camera/reboot_device”h]”hŒ/camera/reboot_device”…”�”}”hjÑsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjÍhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK‘hjÊhhhhubhÂ)�”}”(hŒ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”h]”hŒ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”…”�”}”hjåsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjÊhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK‘hjehhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK‰hjThhhhubeh}”(h!]”Œid8”ah#]”h%]”Œ设备信æ�¯ä¸Žç®¡ç�†”ah']”h)]”uh+h	hK‡hhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒå�Œæ­¥ä¸Žè§¦å�‘”h]”hŒå�Œæ­¥ä¸Žè§¦å�‘”…”�”}”(hjhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK–hj	hhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/send_software_trigger”h]”hL)�”}”(hŒ/camera/send_software_trigger”h]”hŒ/camera/send_software_trigger”…”�”}”hj$sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK˜hjhhhhubhÂ)�”}”(hŒSros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'”h]”hŒSros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'”…”�”}”hj8sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK˜hjhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_reset_timestamp”h]”hL)�”}”(hŒ/camera/set_reset_timestamp”h]”hŒ/camera/set_reset_timestamp”…”�”}”hjUsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjQhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hKœhjNhhhhubhÂ)�”}”(hŒƒ# 仅在time_domainå�‚数设置为deviceæ—¶å�¯ç”¨
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”h]”hŒƒ# 仅在time_domainå�‚数设置为deviceæ—¶å�¯ç”¨
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”…”�”}”hjisbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjNhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hKœhjhhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ!/camera/set_sync_interleaverlaser”h]”hL)�”}”(hŒ!/camera/set_sync_interleaverlaser”h]”hŒ!/camera/set_sync_interleaverlaser”…”�”}”hj†sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj‚hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK¡hjhhhhubhÂ)�”}”(hŒ®# 仅在interleave_ae_mode为'laser'且interleave_frame_enable为trueæ—¶å�¯ç”¨
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŒ®# 仅在interleave_ae_mode为'laser'且interleave_frame_enable为trueæ—¶å�¯ç”¨
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hjšsbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK¡hjhhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK˜hj	hhhhubeh}”(h!]”Œid9”ah#]”h%]”Œå�Œæ­¥ä¸Žè§¦å�‘”ah']”h)]”uh+h	hK–hhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒ深度滤波器é…�ç½®”h]”hŒ深度滤波器é…�ç½®”…”�”}”(hjÁhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK§hj¾hhubh )�”}”(hhh]”h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/set_filter”h]”hL)�”}”(hŒ/camera/set_filter”h]”hŒ/camera/set_filter”…”�”}”hjÙsbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjÕhhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK©hjÒhhhhubhÂ)�”}”(hXf
# 设置DecimationFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
# 设置SpatialAdvancedFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”h]”hXf
# 设置DecimationFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
# 设置SpatialAdvancedFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”…”�”}”hjísbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjÒhhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK©hjÏhhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK©hj¾hhhhubeh}”(h!]”Œid10”ah#]”h%]”Œ深度滤波器é…�ç½®”ah']”h)]”uh+h	hK§hhhhhhubh
)�”}”(hhh]”(h)�”}”(hŒæ•°æ�®æ�•èŽ·ä¸Žæ ¡å‡†ç®¡ç�†”h]”hŒæ•°æ�®æ�•èŽ·ä¸Žæ ¡å‡†ç®¡ç�†”…”�”}”(hj	hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+hhK±hj	hhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/save_images”h]”hL)�”}”(hŒ/camera/save_images”h]”hŒ/camera/save_images”…”�”}”hj,	sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj(	hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK³hj%	hhhhubhÂ)�”}”(hŒ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”h]”hŒ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”…”�”}”hj@	sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhj%	hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK³hj"	hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ/camera/save_point_cloud”h]”hL)�”}”(hŒ/camera/save_point_cloud”h]”hŒ/camera/save_point_cloud”…”�”}”hj]	sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhjY	hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h1hK·hjV	hhhhubhÂ)�”}”(hŒBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”h]”hŒBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”…”�”}”hjq	sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjV	hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK·hj"	hhhhubeh}”(h!]”h#]”h%]”h']”h)]”uh+hŸhK³hj	hhhhubh-)�”}”(hhh]”h2)�”}”(hŒk注æ„�：以下æœ�务目å‰�仅支æŒ�435Le模å�—。æ¯�个æœ�务一次å�ªèƒ½å­˜å‚¨ä¸€ç»„æ•°æ�®æˆ–字符串。”h]”(h8)�”}”(hŒ注æ„�”h]”hŒ注æ„�”…”�”}”(hj”	hhhhhKubah}”(h!]”h#]”h%]”h']”h)]”uh+h7hj�	hhhhhKubhŒe：以下æœ�务目å‰�仅支æŒ�435Le模å�—。æ¯�个æœ�务一次å�ªèƒ½å­˜å‚¨ä¸€ç»„æ•°æ�®æˆ–字符串。”…”�”}”(hj�	hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK¼hj�	hhhhubah}”(h!]”h#]”h%]”h']”h)]”uh+h,hK¼hj	hhhhubh )�”}”(hhh]”(h¥)�”}”(hhh]”(h2)�”}”(hŒ8/camera/write_customer_data & /camera/read_customer_data”h]”(hL)�”}”(hŒ/camera/write_customer_data”h]”hŒ/camera/write_customer_data”…”�”}”hj¼	sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj¸	hhhhhKubhŒ
 ”…”�”}”(hj¸	hhhhhKubhŒ
&”…”�”}”(hj¸	hhhhhKubhŒ
 ”…”�”}”(hj¸	hhhhhKubhL)�”}”(hŒ/camera/read_customer_data”h]”hŒ/camera/read_customer_data”…”�”}”hjÖ	sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj¸	hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h1hK¾hjµ	hhhhubhÂ)�”}”(hŒ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”h]”hŒ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”…”�”}”hjê	sbah}”(h!]”h#]”h%]”h']”h)]”Œlanguage”Œbash”hÓhÔuh+hÁhjµ	hhhhhKubeh}”(h!]”h#]”h%]”h']”h)]”uh+h¤hK¾hj²	hhhhubh¥)�”}”(hhh]”(h2)�”}”(hŒ=/camera/set_user_calib_params & /camera/get_user_calib_params”h]”(hL)�”}”(hŒ/camera/set_user_calib_params”h]”hŒ/camera/set_user_calib_params”…”�”}”hj
sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj
hhhhhKubhŒ
 ”…”�”}”(hj
hhhhhKubhŒ
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 ”…”�”}”(hj
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sbah}”(h!]”h#]”h%]”h']”h)]”uh+hKhj
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hhhhubhÂ)�”}”(hX>ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
'{k: [614.9613647460938, 0.0, 634.91552734375,
      0.0, 614.65771484375, 391.407470703125,
      0.0, 0.0, 1.0],
  d: [-0.03131488710641861,
       0.032955970615148544,
       9.096559369936585e-05,
      -0.0003368517500348389,
      -0.01115430984646082,
       0.0, 0.0, 0.0],
  rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
            -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
             0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
  translation: [-0.023897956848144532,
                -9.439220279455185e-05,
                -6.804073229432106e-06]}'
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'”h]”hX>ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
'{k: [614.9613647460938, 0.0, 634.91552734375,
      0.0, 614.65771484375, 391.407470703125,
      0.0, 0.0, 1.0],
  d: [-0.03131488710641861,
       0.032955970615148544,
       9.096559369936585e-05,
      -0.0003368517500348389,
      -0.01115430984646082,
       0.0, 0.0, 0.0],
  rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
            -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
             0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
  translation: [-0.023897956848144532,
                -9.439220279455185e-05,
                -6.804073229432106e-06]}'
ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'”…”�”}”hj5
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