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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/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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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
View File
@@ -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=''),