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Merge branch 'feat/ae_awb' into v2/develop

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# Conflicts:
#	orbbec_camera/SDK/arm64/include/libobsensor/h/Property.h
#	orbbec_camera/SDK/arm64/lib/libOrbbecSDK.so.2.10.1
#	orbbec_camera/SDK/x64/lib/libOrbbecSDK.so.2.10.1
#	orbbec_camera/examples/README.MD
This commit is contained in:
ob-yalian
2026-08-25 14:09:12 +08:00
parent cfc7e8dbba 777197cfc6
commit 017a84e251
13 changed files with 621 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -24,7 +24,7 @@
#define OB_ROS_MAJOR_VERSION 2
#define OB_ROS_MINOR_VERSION 9
#define OB_ROS_PATCH_VERSION 3
#define OB_ROS_PATCH_VERSION 3.1
#ifndef STRINGIFY
#define STRINGIFY(arg) #arg
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+16
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@@ -54,12 +54,14 @@
#include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
#include "orbbec_camera_msgs/srv/get_device_config.hpp"
#include "orbbec_camera_msgs/srv/get_device_info.hpp"
#include "orbbec_camera_msgs/srv/get_awb_gain.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include "orbbec_camera_msgs/msg/imu_info.hpp"
#include "orbbec_camera_msgs/srv/get_int32.hpp"
#include "orbbec_camera_msgs/srv/get_string.hpp"
#include "orbbec_camera_msgs/srv/set_int32.hpp"
#include "orbbec_camera_msgs/srv/set_awb_gain.hpp"
#include "orbbec_camera_msgs/srv/get_bool.hpp"
#include "orbbec_camera_msgs/srv/set_string.hpp"
#include "orbbec_camera_msgs/srv/set_filter.hpp"
@@ -137,6 +139,8 @@ using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
using GetInt32 = orbbec_camera_msgs::srv::GetInt32;
using GetAwbGain = orbbec_camera_msgs::srv::GetAwbGain;
using SetAwbGain = orbbec_camera_msgs::srv::SetAwbGain;
using GetString = orbbec_camera_msgs::srv::GetString;
using SetString = orbbec_camera_msgs::srv::SetString;
using SetBool = std_srvs::srv::SetBool;
@@ -435,6 +439,15 @@ class OBCameraNode {
void setAutoWhiteBalanceCallback(const std::shared_ptr<SetBool::Request>& request,
std::shared_ptr<SetBool::Response>& response);
void getAeAwbStatusCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void getAwbGainCallback(const std::shared_ptr<GetAwbGain::Request>& request,
std::shared_ptr<GetAwbGain::Response>& response);
void setAwbGainCallback(const std::shared_ptr<SetAwbGain::Request>& request,
std::shared_ptr<SetAwbGain::Response>& response);
void setAutoExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response,
const stream_index_pair& stream_index);
@@ -750,6 +763,9 @@ class OBCameraNode {
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_ae_awb_status_srv_;
rclcpp::Service<GetAwbGain>::SharedPtr get_awb_gain_srv_;
rclcpp::Service<SetAwbGain>::SharedPtr set_awb_gain_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<SetString>::SharedPtr export_config_json_srv_;