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add stream format as parmeters

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This commit is contained in:
Joe Dong
2022-06-27 10:26:04 +08:00
parent 06574bfefc
commit 0067d11b3c
8 changed files with 114 additions and 11 deletions
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orbbec_camera/params/ob_camera_params.yaml
+2 -6
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@@ -1,29 +1,25 @@
/**:
ros__parameters:
color_width: 640
color_height: 480
color_width: 2048
color_height: 1536
color_fps: 30.0
color_format: "RGB888"
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30.0
ir_format: "Y16"
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: true
depth_width: 1280
depth_height: 1024
depth_fps: 30.0
depth_format: "Y16"
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
publish_rgb_point_cloud: false
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "none"