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update about laser revise

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This commit is contained in:
jj
2024-11-26 18:31:00 +08:00
parent e72b93611f
commit 0a22657f77
2 changed files with 9 additions and 13 deletions
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orbbec_camera/src/ros_service.cpp
+4 -6
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@@ -184,9 +184,9 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetInt32::Response> response) {
setSYNCInterleaveLaserCallback(request, response);
});
set_sync_host_time_srv_ = node_->create_service<SetBool>(
set_sync_host_time_srv_ = node_->create_service<SetBool>(
"set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
}
@@ -479,13 +479,11 @@ void OBCameraNode::setLaserEnableCallback(
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
auto device_info = device_->getDeviceInfo();
auto pid = device_info->getPid();
int laser_enable = request->data ? 1 : 0;
try {
if (isGemini335PID(pid)) {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else {
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
}
response->success = true;