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feat: add uvc_backend launch argument and implement backend selection in OBCameraNodeDriver

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This commit is contained in:
slz
2026-06-22 16:18:23 +08:00
parent b5405327c1
commit 06fff90213
20 changed files with 50 additions and 13 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+1 -1
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@@ -28,7 +28,6 @@
#include <std_srvs/srv/empty.hpp>
#include <backward_ros/backward.hpp>
namespace orbbec_camera {
class OBCameraNodeDriver : public rclcpp::Node {
@@ -83,6 +82,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string serial_number_;
std::string device_unique_id_;
std::string usb_port_;
std::string uvc_backend_;
bool enumerate_net_device_ = false; // default false
std::shared_ptr<Parameters> parameters_ = nullptr;
std::shared_ptr<std::thread> query_thread_ = nullptr;
orbbec_camera/launch/astra2.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/astra_embedded_s.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/astra_stereo_u3.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/dabai.launch.py
+13 -12
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@@ -19,15 +19,16 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', default_value='false'),
DeclareLaunchArgument('color_qos', default_value='default'),
@@ -38,18 +39,18 @@ def generate_launch_description():
DeclareLaunchArgument('color_gain', default_value='-1'),
DeclareLaunchArgument('enable_color_auto_white_balance', default_value='true'),
DeclareLaunchArgument('color_white_balance', default_value='-1'),
DeclareLaunchArgument('depth_width', default_value='640'),
DeclareLaunchArgument('depth_height', default_value='400'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_format', default_value='Y11'),
DeclareLaunchArgument('depth_width', default_value='0'),
DeclareLaunchArgument('depth_height', default_value='0'),
DeclareLaunchArgument('depth_fps', default_value='0'),
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', default_value='false'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('ir_width', default_value='640'),
DeclareLaunchArgument('ir_height', default_value='400'),
DeclareLaunchArgument('ir_fps', default_value='30'),
DeclareLaunchArgument('ir_format', default_value='Y10'),
DeclareLaunchArgument('ir_width', default_value='0'),
DeclareLaunchArgument('ir_height', default_value='0'),
DeclareLaunchArgument('ir_fps', default_value='0'),
DeclareLaunchArgument('ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', default_value='false'),
DeclareLaunchArgument('ir_qos', default_value='default'),
orbbec_camera/launch/dabai_dcl.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/dabai_dcw.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -60,6 +60,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/dabai_max_pro.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/deeya.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/femto_bolt.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/gemini2VL.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='100'),
orbbec_camera/launch/gemini2XL.launch.py
+1
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@@ -18,6 +18,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -83,6 +83,7 @@ def generate_launch_description():
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_camera_info_qos', default_value='default'),
orbbec_camera/launch/gemini_e.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
orbbec_camera/launch/gemini_ew.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
orbbec_camera/launch/gemini_uw.launch.py
+1
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@@ -19,6 +19,7 @@ def generate_launch_description():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('vendor_id', default_value='0x2bc5'),
DeclareLaunchArgument('product_id', default_value=''),
DeclareLaunchArgument('uvc_backend', default_value='auto'),#auto, libuvc or v4l2
DeclareLaunchArgument('enable_point_cloud', default_value='true'),
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
orbbec_camera/src/ob_camera_node_driver.cpp
+19
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@@ -24,6 +24,8 @@
#include <csignal>
#include <sys/mman.h>
#include <unistd.h>
#include <algorithm>
#include <cctype>
#include <filesystem>
#include <fstream>
@@ -155,6 +157,23 @@ void OBCameraNodeDriver::init() {
net_device_ip_ = declare_parameter<std::string>("net_device_ip", "");
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "auto");
std::string uvc_backend = uvc_backend_;
std::transform(uvc_backend.begin(), uvc_backend.end(), uvc_backend.begin(),
[](unsigned char c) { return std::tolower(c); });
if (uvc_backend == "auto") {
RCLCPP_INFO_STREAM(logger_, "Use default UVC backend from SDK config");
} else if (uvc_backend == "libuvc") {
ctx_->setUVCBackend(UVC_BACKEND_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else if (uvc_backend == "v4l2") {
ctx_->setUVCBackend(UVC_BACKEND_V4L2);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else {
RCLCPP_WARN_STREAM(logger_, "Unsupported uvc_backend '"
<< uvc_backend_
<< "', using default UVC backend from SDK config");
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
const std::shared_ptr<ob::DeviceList> &added_list) {