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38 lines
1.3 KiB
Markdown
38 lines
1.3 KiB
Markdown
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# AE/AWB Lock Test
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This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual
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lock-in flow through the camera driver's services.
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Run the camera driver and this sample in the same namespace:
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```bash
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ros2 run orbbec_camera ae_awb_lock_test_node --ros-args -r __ns:=/camera
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```
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Send a goal and print feedback:
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```bash
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ros2 action send_goal \
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/camera/run_ae_awb_lock_test \
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orbbec_camera_msgs/action/RunAeAwbLockTest \
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"{timeout_ms: 10000}" \
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--feedback
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```
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The sample enables auto exposure and auto white balance, waits until the SDK status equals `1`,
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captures the current exposure, color gain, AWB gains, and color temperature, disables the auto
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controls, and writes the captured values back in this order:
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1. Color exposure
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2. Color gain
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3. AWB R/B/G gains
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4. Color temperature
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The final AWB gain readback must exactly match the captured value. Other readback differences are
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reported as warnings because the device may quantize those controls. On failure or cancellation,
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the sample restores auto exposure and auto white balance.
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Every feedback phase contains a fresh status value read from the camera service. The
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`waiting_for_services` feedback is published after all required services become available, because
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the status cannot be read before its service is ready.
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