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Add /camera/set_write_customer_data and /camera/set_read_customer_data service for Gemini 435Le

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jj
2025-05-12 16:15:38 +08:00
parent 0a7be79738
commit 06abdf679a
2 changed files with 64 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
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@@ -325,6 +325,12 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setWriteCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setReadCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -470,6 +476,8 @@ class OBCameraNode {
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<SetString>::SharedPtr set_write_customerdata_srv_;
rclcpp::Service<SetString>::SharedPtr set_read_customerdata_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_;