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

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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;