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112 lines
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112 lines
36 KiB
Plaintext
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€•.‘ Śdocutils.nodes”Śdocument”“”)�”}”(Ś rawsource”Ś ”Śchildren”]”h Śsection”“”)�”}”(hhh]”(h Śtitle”“”)�”}”(hŚ)All available services for camera control”h]”h ŚText”“”Ś)All available services for camera control”…”�”}”(Śparent”hŚ _document”hŚsource”NŚline”NubaŚ
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attributes”}”(Śids”]”Śclasses”]”Śnames”]”Śdupnames”]”Śbackrefs”]”uŚtagname”hh Khh h Ś[/home/runner/work/OrbbecSDK_ROS2/OrbbecSDK_ROS2/docs/source/4_application_guide/services.md”ubh Ś block_quote”“”)�”}”(hhh]”h Ś paragraph”“”)�”}”(hŚŁNote: Services related to a specific stream (e.g., /camera/set_color_*) are only available if that stream is enabled in the launch file (e.g., enable_color:=true).”h]”(h Śstrong”“”)�”}”(hŚNote:”h]”hŚNote:”…”�”}”(hh9hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*h7hh3hhh h+h K ubhŚ. Services related to a specific stream (e.g., ”…”�”}”(hh3hhh Nh Nubh Śliteral”“”)�”}”(hŚ/camera/set_color_*”h]”hŚ/camera/set_color_*”…”�”}”(hhMhhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhh3hhh h+h K ubhŚI) are only available if that stream is enabled in the launch file (e.g., ”…”�”}”(hh3hhh Nh NubhL)�”}”(hŚenable_color:=true”h]”hŚenable_color:=true”…”�”}”(hh_hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhh3hhh h+h K ubhŚ).”…”�”}”(hh3hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Khh.hhh h+ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h,h Khh hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚStream Control”h]”hŚStream Control”…”�”}”(hh€hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh Khh}h h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ Color Stream”h]”hŚ Color Stream”…”�”}”(hh‘hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh KhhŽh h+ubh Ś bullet_list”“”)�”}”(hhh]”(h Ś list_item”“”)�”}”(hhh]”(h2)�”}”(hŚ/camera/toggle_color”h]”hL)�”}”(hŚ/camera/toggle_color”h]”hŚ/camera/toggle_color”…”�”}”(hhhhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhh©hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Khh¦hhh h+ubh Ś
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literal_block”“”)�”}”(hŚJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”h]”hŚJros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'”…”�”}”hhĂsbah }”(h ]”h"]”h$]”h&]”h(]”Ś xml:space”Śpreserve”Śforce”‰Ślanguage”Śbash”Śhighlight_args”}”uh*hÁh h+h Khh¦hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Khhˇhhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ3/camera/get_color_exposure & /camera/get_color_gain”h]”(hL)�”}”(hŚ/camera/get_color_exposure”h]”hŚ/camera/get_color_exposure”…”�”}”(hhĺhhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhháhhh h+h K ubhŚ ”…”�”}”(hháhhh Nh NubhŚ&”…”�”}”(hháhhh Nh NubhŚ ”…”�”}”(hháhhh h+h K ubhL)�”}”(hŚ/camera/get_color_gain”h]”hŚ/camera/get_color_gain”…”�”}”(hh˙hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhháhhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K hhŢhhh h+ubhÂ)�”}”(hŚźros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŚźros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K hhŢhhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K hhˇhhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ /camera/set_color_auto_exposure”h]”hL)�”}”(hŚ /camera/set_color_auto_exposure”h]”hŚ /camera/set_color_auto_exposure”…”�”}”(hj0 hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj, hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Khj) hhh h+ubhÂ)�”}”(hŚUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŚUros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjD sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h Khj) hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Khhˇhhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ3/camera/set_color_exposure & /camera/set_color_gain”h]”(hL)�”}”(hŚ/camera/set_color_exposure”h]”hŚ/camera/set_color_exposure”…”�”}”(hja hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj] hhh h+h K ubhŚ ”…”�”}”(hj] hhh Nh NubhŚ&”…”�”}”(hj] hhh Nh NubhŚ ”…”�”}”(hj] hhh h+h K ubhL)�”}”(hŚ/camera/set_color_gain”h]”hŚ/camera/set_color_gain”…”�”}”(hj{ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj] hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KhjZ hhh h+ubhÂ)�”}”(hŚ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
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ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŚ®ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
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ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjŹ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KhjZ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Khhˇhhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚL/camera/set_color_mirror, /camera/set_color_flip, /camera/set_color_rotation”h]”(hL)�”}”(hŚ/camera/set_color_mirror”h]”hŚ/camera/set_color_mirror”…”�”}”(hj¬ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¨ hhh h+h K ubhŚ, ”…”�”}”(hj¨ hhh Nh NubhL)�”}”(hŚ/camera/set_color_flip”h]”hŚ/camera/set_color_flip”…”�”}”(hjľ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¨ hhh h+h K ubhŚ, ”…”�”}”(hj¨ hhh h+h K ubhL)�”}”(hŚ/camera/set_color_rotation”h]”hŚ/camera/set_color_rotation”…”�”}”(hjĐ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¨ hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KhjĄ hhh h+ubhÂ)�”}”(hŚöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŚöros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hjä sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KhjĄ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Khhˇhhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_color_ae_roi”h]”hL)�”}”(hŚ/camera/set_color_ae_roi”h]”hŚ/camera/set_color_ae_roi”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjý hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K hjú hhh h+ubhÂ)�”}”(hŚ“# data_param: [Left, Right, Top, Bottom]
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”h]”hŚ“# data_param: [Left, Right, Top, Bottom]
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'”…”�”}”hj sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K hjú hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K hhˇhhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh KhhŽhhh h+ubeh }”(h ]”Ś color-stream”ah"]”h$]”Ś color stream”ah&]”h(]”uh*h h Khh}hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ Depth Stream”h]”hŚ Depth Stream”…”�”}”(hj< hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh K&hj9 h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/toggle_depth”h]”hL)�”}”(hŚ/camera/toggle_depth”h]”hŚ/camera/toggle_depth”…”�”}”(hjT hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjP hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K'hjM hhh h+ubhÂ)�”}”(hŚJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”h]”hŚJros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'”…”�”}”hjh sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K'hjM hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K'hjJ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ3/camera/get_depth_exposure & /camera/get_depth_gain”h]”(hL)�”}”(hŚ/camera/get_depth_exposure”h]”hŚ/camera/get_depth_exposure”…”�”}”(hj… hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj� hhh h+h K ubhŚ ”…”�”}”(hj� hhh Nh NubhŚ&”…”�”}”(hj� hhh Nh NubhŚ ”…”�”}”(hj� hhh h+h K ubhL)�”}”(hŚ/camera/get_depth_gain”h]”hŚ/camera/get_depth_gain”…”�”}”(hjź hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj� hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K+hj~ hhh h+ubhÂ)�”}”(hŚźros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŚźros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjł sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K+hj~ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K+hjJ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ /camera/set_depth_auto_exposure”h]”hL)�”}”(hŚ /camera/set_depth_auto_exposure”h]”hŚ /camera/set_depth_auto_exposure”…”�”}”(hjĐ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjĚ hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K0hjÉ hhh h+ubhÂ)�”}”(hŚUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŚUros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hjä sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K0hjÉ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K0hjJ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ3/camera/set_depth_exposure & /camera/set_depth_gain”h]”(hL)�”}”(hŚ/camera/set_depth_exposure”h]”hŚ/camera/set_depth_exposure”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjý hhh h+h K ubhŚ ”…”�”}”(hjý hhh Nh NubhŚ&”…”�”}”(hjý hhh Nh NubhŚ ”…”�”}”(hjý hhh h+h K ubhL)�”}”(hŚ/camera/set_depth_gain”h]”hŚ/camera/set_depth_gain”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjý hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K4hjú hhh h+ubhÂ)�”}”(hŚ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŚ±ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hj/ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K4hjú hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K4hjJ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚL/camera/set_depth_mirror, /camera/set_depth_flip, /camera/set_depth_rotation”h]”(hL)�”}”(hŚ/camera/set_depth_mirror”h]”hŚ/camera/set_depth_mirror”…”�”}”(hjL hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjH hhh h+h K ubhŚ, ”…”�”}”(hjH hhh Nh NubhL)�”}”(hŚ/camera/set_depth_flip”h]”hŚ/camera/set_depth_flip”…”�”}”(hj^ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjH hhh h+h K ubhŚ, ”…”�”}”(hjH hhh h+h K ubhL)�”}”(hŚ/camera/set_depth_rotation”h]”hŚ/camera/set_depth_rotation”…”�”}”(hjp hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjH hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K9hjE hhh h+ubhÂ)�”}”(hŚöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”h]”hŚöros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
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ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'”…”�”}”hj„ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K9hjE hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K9hjJ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_depth_ae_roi”h]”hL)�”}”(hŚ/camera/set_depth_ae_roi”h]”hŚ/camera/set_depth_ae_roi”…”�”}”(hjˇ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjť hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K?hjš hhh h+ubhÂ)�”}”(hŚ’# data_param: [Left, Right, Top, Bottom]
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ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”h]”hŚ’# data_param: [Left, Right, Top, Bottom]
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ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'”…”�”}”hjµ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K?hjš hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K?hjJ hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K'hj9 hhh h+ubeh }”(h ]”Ś depth-stream”ah"]”h$]”Ś depth stream”ah&]”h(]”uh*h h K&hh}hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ IR Stream”h]”hŚ IR Stream”…”�”}”(hjÜ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh KEhjŮ h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/toggle_ir”h]”hL)�”}”(hŚ/camera/toggle_ir”h]”hŚ/camera/toggle_ir”…”�”}”(hjô hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjđ hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KFhjí hhh h+ubhÂ)�”}”(hŚGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”h]”hŚGros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'”…”�”}”hj sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KFhjí hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KFhję hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ-/camera/get_ir_exposure & /camera/get_ir_gain”h]”(hL)�”}”(hŚ/camera/get_ir_exposure”h]”hŚ/camera/get_ir_exposure”…”�”}”(hj% hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj! hhh h+h K ubhŚ ”…”�”}”(hj! hhh Nh NubhŚ&”…”�”}”(hj! hhh Nh NubhŚ ”…”�”}”(hj! hhh h+h K ubhL)�”}”(hŚ/camera/get_ir_gain”h]”hŚ/camera/get_ir_gain”…”�”}”(hj? hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj! hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KKhj hhh h+ubhÂ)�”}”(hŚ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
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ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŚ™ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
|
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ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hjS sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KKhj hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KKhję hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ /camera/set_ir_auto_exposure”h]”hL)�”}”(hŚ /camera/set_ir_auto_exposure”h]”hŚ /camera/set_ir_auto_exposure”…”�”}”(hjp hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjl hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KPhji hhh h+ubhÂ)�”}”(hŚRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”h]”hŚRros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'”…”�”}”hj„ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KPhji hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KPhję hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ-/camera/set_ir_exposure & /camera/set_ir_gain”h]”(hL)�”}”(hŚ/camera/set_ir_exposure”h]”hŚ/camera/set_ir_exposure”…”�”}”(hjˇ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjť hhh h+h K ubhŚ ”…”�”}”(hjť hhh Nh NubhŚ&”…”�”}”(hjť hhh Nh NubhŚ ”…”�”}”(hjť hhh h+h K ubhL)�”}”(hŚ/camera/set_ir_gain”h]”hŚ/camera/set_ir_gain”…”�”}”(hj» hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjť hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KThjš hhh h+ubhÂ)�”}”(hŚ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
|
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ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”h]”hŚ«ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'”…”�”}”hjĎ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KThjš hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KThję hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/switch_ir”h]”hL)�”}”(hŚ/camera/switch_ir”h]”hŚ/camera/switch_ir”…”�”}”(hjě hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjč hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KYhjĺ hhh h+ubhÂ)�”}”(hŚSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”h]”hŚSros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'”…”�”}”hj sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KYhjĺ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KYhję hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh KFhjŮ hhh h+ubeh }”(h ]”Ś ir-stream”ah"]”h$]”Ś ir stream”ah&]”h(]”uh*h h KEhh}hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ All Streams”h]”hŚ All Streams”…”�”}”(hj' hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh K^hj$ h h+ubh )�”}”(hhh]”hĄ)�”}”(hhh]”(h2)�”}”(hŚ7/camera/get_streams_enable & /camera/set_streams_enable”h]”(hL)�”}”(hŚ/camera/get_streams_enable”h]”hŚ/camera/get_streams_enable”…”�”}”(hj? hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj; hhh h+h K ubhŚ ”…”�”}”(hj; hhh Nh NubhŚ&”…”�”}”(hj; hhh Nh NubhŚ ”…”�”}”(hj; hhh h+h K ubhL)�”}”(hŚ/camera/set_streams_enable”h]”hŚ/camera/set_streams_enable”…”�”}”(hjY hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj; hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K_hj8 hhh h+ubhÂ)�”}”(hŚ˘ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
|
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ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”h]”hŚ˘ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
|
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ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'”…”�”}”hjm sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K_hj8 hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K_hj5 hhh h+ubah }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K_hj$ hhh h+ubeh }”(h ]”Ś all-streams”ah"]”h$]”Ś all streams”ah&]”h(]”uh*h h K^hh}hhh h+ubeh }”(h ]”Śstream-control”ah"]”h$]”Śstream control”ah&]”h(]”uh*h h Khh hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚSensor & Emitter Control”h]”(hŚSensor ”…”�”}”(hjś hhh Nh NubhŚ&”…”�”}”(hjś hhh Nh NubhŚ Emitter Control”…”�”}”(hjś hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hh Kehj™ h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ?/camera/set_auto_white_balance & /camera/get_auto_white_balance”h]”(hL)�”}”(hŚ /camera/set_auto_white_balance”h]”hŚ /camera/set_auto_white_balance”…”�”}”(hjĽ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¸ hhh h+h K ubhŚ ”…”�”}”(hj¸ hhh Nh NubhŚ&”…”�”}”(hj¸ hhh Nh NubhŚ ”…”�”}”(hj¸ hhh h+h K ubhL)�”}”(hŚ /camera/get_auto_white_balance”h]”hŚ /camera/get_auto_white_balance”…”�”}”(hjÖ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¸ hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Kghjµ hhh h+ubhÂ)�”}”(hŚŞros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
|
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ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŚŞros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
|
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ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hję sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h Kghjµ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kghj˛ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ5/camera/set_white_balance & /camera/get_white_balance”h]”(hL)�”}”(hŚ/camera/set_white_balance”h]”hŚ/camera/set_white_balance”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj hhh h+h K ubhŚ ”…”�”}”(hj hhh Nh NubhŚ&”…”�”}”(hj hhh Nh NubhŚ ”…”�”}”(hj hhh h+h K ubhL)�”}”(hŚ/camera/get_white_balance”h]”hŚ/camera/get_white_balance”…”�”}”(hj! hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Klhj hhh h+ubhÂ)�”}”(hŚ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”h]”hŚ«ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'”…”�”}”hj5 sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h Klhj hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Klhj˛ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_laser_enable”h]”hL)�”}”(hŚ/camera/set_laser_enable”h]”hŚ/camera/set_laser_enable”…”�”}”(hjR hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjN hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KqhjK hhh h+ubhÂ)�”}”(hŚNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”h]”hŚNros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hjf sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KqhjK hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kqhj˛ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ//camera/set_ldp_enable & /camera/get_ldp_status”h]”(hL)�”}”(hŚ/camera/set_ldp_enable”h]”hŚ/camera/set_ldp_enable”…”�”}”(hj� hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj hhh h+h K ubhŚ ”…”�”}”(hj hhh Nh NubhŚ&”…”�”}”(hj hhh Nh NubhŚ ”…”�”}”(hj hhh h+h K ubhL)�”}”(hŚ/camera/get_ldp_status”h]”hŚ/camera/get_ldp_status”…”�”}”(hjť hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Kuhj| hhh h+ubhÂ)�”}”(hŚ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
|
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ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”h]”hŚ™ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
|
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ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'”…”�”}”hj± sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h Kuhj| hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kuhj˛ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_fan_work_mode”h]”hL)�”}”(hŚ/camera/set_fan_work_mode”h]”hŚ/camera/set_fan_work_mode”…”�”}”(hjÎ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjĘ hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KzhjÇ hhh h+ubhÂ)�”}”(hŚWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŚWros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hjâ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KzhjÇ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kzhj˛ hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_floor_enable”h]”hL)�”}”(hŚ/camera/set_floor_enable”h]”hŚ/camera/set_floor_enable”…”�”}”(hj˙ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjű hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K~hjř hhh h+ubhÂ)�”}”(hŚNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”h]”hŚNros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'”…”�”}”hj sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K~hjř hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K~hj˛ hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh Kghj™ hhh h+ubeh }”(h ]”Śsensor-emitter-control”ah"]”h$]”Śsensor & emitter control”ah&]”h(]”uh*h h Kehh hhh h+ubh
|
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)�”}”(hhh]”(h)�”}”(hŚ Device Information & Management”h]”(hŚDevice Information ”…”�”}”(hj: hhh Nh NubhŚ&”…”�”}”(hj: hhh Nh NubhŚ Management”…”�”}”(hj: hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hh K�hj7 h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/get_device_info”h]”hL)�”}”(hŚ/camera/get_device_info”h]”hŚ/camera/get_device_info”…”�”}”(hjZ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjV hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K…hjS hhh h+ubhÂ)�”}”(hŚNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”h]”hŚNros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo”…”�”}”hjn sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K…hjS hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K…hjP hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/get_sdk_version”h]”hL)�”}”(hŚ/camera/get_sdk_version”h]”hŚ/camera/get_sdk_version”…”�”}”(hj‹ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj‡ hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K‰hj„ hhh h+ubhÂ)�”}”(hŚJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”h]”hŚJros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString”…”�”}”hjź sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K‰hj„ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K‰hjP hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/reboot_device”h]”hL)�”}”(hŚ/camera/reboot_device”h]”hŚ/camera/reboot_device”…”�”}”(hjĽ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj¸ hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KŤhjµ hhh h+ubhÂ)�”}”(hŚ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”h]”hŚ?ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'”…”�”}”hjĐ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KŤhjµ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h KŤhjP hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K…hj7 hhh h+ubeh }”(h ]”Ś device-information-management”ah"]”h$]”Ś device information & management”ah&]”h(]”uh*h h K�hh hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ Synchronization & Triggering”h]”(hŚSynchronization ”…”�”}”(hj÷ hhh Nh NubhŚ&”…”�”}”(hj÷ hhh Nh NubhŚ Triggering”…”�”}”(hj÷ hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hh K’hjô h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ /camera/send_software_trigger”h]”hL)�”}”(hŚ /camera/send_software_trigger”h]”hŚ /camera/send_software_trigger”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K”hj hhh h+ubhÂ)�”}”(hX ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
|
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|
```* `/camera/set_reset_timestamp`
|
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|
|
```bash
|
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|
|
# Only available when time_domain param is set to device
|
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|
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”h]”hX ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
|
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|
```* `/camera/set_reset_timestamp`
|
|||
|
|
```bash
|
|||
|
|
# Only available when time_domain param is set to device
|
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ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'”…”�”}”hj+ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K”hj hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K”hj
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hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ!/camera/set_sync_interleaverlaser”h]”hL)�”}”(hŚ!/camera/set_sync_interleaverlaser”h]”hŚ!/camera/set_sync_interleaverlaser”…”�”}”(hjH hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjD hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KśhjA hhh h+ubhÂ)�”}”(hŚµ# Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
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ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”h]”hŚµ# Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
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ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'”…”�”}”hj\ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KśhjA hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kśhj
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hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K”hjô hhh h+ubeh }”(h ]”Śsynchronization-triggering”ah"]”h$]”Ś synchronization & triggering”ah&]”h(]”uh*h h K’hh hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚDepth Filter Configuration”h]”hŚDepth Filter Configuration”…”�”}”(hj� hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hh K˘hj€ h h+ubh )�”}”(hhh]”hĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/set_filter”h]”hL)�”}”(hŚ/camera/set_filter”h]”hŚ/camera/set_filter”…”�”}”(hj› hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj— hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K¤hj” hhh h+ubhÂ)�”}”(hXb # Set DecimationFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
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# Set SpatialAdvancedFilter
|
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”h]”hXb # Set DecimationFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
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# Set SpatialAdvancedFilter
|
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'”…”�”}”hjŻ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K¤hj” hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K¤hj‘ hhh h+ubah }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K¤hj€ hhh h+ubeh }”(h ]”Śdepth-filter-configuration”ah"]”h$]”Śdepth filter configuration”ah&]”h(]”uh*h h K˘hh hhh h+ubh
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)�”}”(hhh]”(h)�”}”(hŚ%Data Capture & Calibration Management”h]”(hŚ
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Data Capture ”…”�”}”(hjÖ hhh Nh NubhŚ&”…”�”}”(hjÖ hhh Nh NubhŚ Calibration Management”…”�”}”(hjÖ hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hh K¬hjÓ h h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/save_images”h]”hL)�”}”(hŚ/camera/save_images”h]”hŚ/camera/save_images”…”�”}”(hjö hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjň hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K®hjď hhh h+ubhÂ)�”}”(hŚ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”h]”hŚ=ros2 service call /camera/save_images std_srvs/srv/Empty '{}'”…”�”}”hj
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sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K®hjď hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K®hjě hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ/camera/save_point_cloud”h]”hL)�”}”(hŚ/camera/save_point_cloud”h]”hŚ/camera/save_point_cloud”…”�”}”(hj' hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj# hhh h+h K ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K˛hj hhh h+ubhÂ)�”}”(hŚBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”h]”hŚBros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'”…”�”}”hj; sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h K˛hj hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h K˛hjě hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh K®hjÓ hhh h+ubh-)�”}”(hhh]”h2)�”}”(hŚŹNote: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.”h]”(h8)�”}”(hŚNote”h]”hŚNote”…”�”}”(hj^ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*h7hjZ hhh h+h K ubhŚ‹: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.”…”�”}”(hjZ hhh Nh Nubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h K·hjW hhh h+ubah }”(h ]”h"]”h$]”h&]”h(]”uh*h,h K·hjÓ hhh h+ubh )�”}”(hhh]”(hĄ)�”}”(hhh]”(h2)�”}”(hŚ8/camera/write_customer_data & /camera/read_customer_data”h]”(hL)�”}”(hŚ/camera/write_customer_data”h]”hŚ/camera/write_customer_data”…”�”}”(hj† hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj‚ hhh h+h K ubhŚ ”…”�”}”(hj‚ hhh Nh NubhŚ&”…”�”}”(hj‚ hhh Nh NubhŚ ”…”�”}”(hj‚ hhh h+h K ubhL)�”}”(hŚ/camera/read_customer_data”h]”hŚ/camera/read_customer_data”…”�”}”(hj hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhj‚ hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h Kąhj hhh h+ubhÂ)�”}”(hŚ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
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ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”h]”hŚ´ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
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ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'”…”�”}”hj´ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h Kąhj hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kąhj| hhh h+ubhĄ)�”}”(hhh]”(h2)�”}”(hŚ=/camera/set_user_calib_params & /camera/get_user_calib_params”h]”(hL)�”}”(hŚ /camera/set_user_calib_params”h]”hŚ /camera/set_user_calib_params”…”�”}”(hjŃ hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjÍ hhh h+h K ubhŚ ”…”�”}”(hjÍ hhh Nh NubhŚ&”…”�”}”(hjÍ hhh Nh NubhŚ ”…”�”}”(hjÍ hhh h+h K ubhL)�”}”(hŚ /camera/get_user_calib_params”h]”hŚ /camera/get_user_calib_params”…”�”}”(hjë hhh Nh Nubah }”(h ]”h"]”h$]”h&]”h(]”uh*hKhjÍ hhh h+h K ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h1h KľhjĘ hhh h+ubhÂ)�”}”(hX> ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
|
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|
|
'{k: [614.9613647460938, 0.0, 634.91552734375,
|
|||
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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 '{}'”…”�”}”hj˙ sbah }”(h ]”h"]”h$]”h&]”h(]”hŃhŇhÓ‰hÔŚbash”hÖ}”uh*hÁh h+h KľhjĘ hhubeh }”(h ]”h"]”h$]”h&]”h(]”uh*h¤h Kľhj| hhh h+ubeh }”(h ]”h"]”h$]”h&]”h(]”uh*hźh KąhjÓ hhh h+ubeh }”(h ]”Ś#data-capture-calibration-management”ah"]”h$]”Ś%data capture & calibration management”ah&]”h(]”uh*h h K¬hh hhh h+ubeh }”(h ]”Ś)all-available-services-for-camera-control”ah"]”h$]”Ś)all available services for camera control”ah&]”h(]”uh*h h Khhhhh h+ubah }”(h ]”h"]”h$]”h&]”h(]”Śsource”h+Śtranslation_progress”}”(Śtotal”K Ś
|
|||
|
|
translated”K uuh*hŚcurrent_source”NŚ current_line”NŚsettings”Śdocutils.frontend”ŚValues”“”)�”}”(Śoutput”NhNŚ generator”NŚ datestamp”NŚ root_prefix”Ś/”Ś source_link”NŚ
|
|||
|
|
source_url”NŚ
|
|||
|
|
toc_backlinks”Śentry”Śfootnote_backlinks”�Ś
|
|||
|
|
sectnum_xform”�Śstrip_comments”NŚstrip_elements_with_classes”NŚ
|
|||
|
|
strip_classes”NŚ report_level”KŚ
|
|||
|
|
halt_level”KŚexit_status_level”KŚdebug”NŚwarning_stream”NŚ traceback”�Śinput_encoding”Ś utf-8-sig”Ś input_encoding_error_handler”Śstrict”Śoutput_encoding”Śutf-8”Ś output_encoding_error_handler”jU
|
|||
|
|
Śerror_encoding”Śutf-8”Ś error_encoding_error_handler”Śbackslashreplace”Ś
|
|||
|
|
language_code”Śen”Śrecord_dependencies”NŚconfig”NŚ id_prefix”hŚauto_id_prefix”Śid”Ś
|
|||
|
|
dump_settings”NŚdump_internals”NŚdump_transforms”NŚdump_pseudo_xml”NŚexpose_internals”NŚstrict_visitor”NŚ_disable_config”NŚ_source”h+Ś _destination”NŚ
|
|||
|
|
_config_files”]”Śfile_insertion_enabled”�Ś raw_enabled”KŚline_length_limit”M'Śdoctitle_xform”‰Ś
|
|||
|
|
docinfo_xform”�Śsectsubtitle_xform”‰Ś
|
|||
|
|
image_loading”Ślink”Śembed_stylesheet”‰Ścloak_email_addresses”�Ś pep_base_url”Śhttps://peps.python.org/”Śpep_references”NŚ rfc_base_url”Ś&https://datatracker.ietf.org/doc/html/”Śrfc_references”NŚsection_self_link”‰Śsmartquotes_locales”]”Śenv”NŚ trim_footnote_reference_space”‰Ś smart_quotes”�ubŚreporter”NŚindirect_targets”]”Śsubstitution_defs”}”Śsubstitution_names”}”Śrefnames”}”Śrefids”}”Śnameids”}”(j(
|
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j%
|