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add retry_on_usb3_detection_failure param

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This commit is contained in:
Joe Dong
2024-05-07 20:01:34 +08:00
parent 0497d7f23b
commit 0ae57a58e8
8 changed files with 16 additions and 4 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1
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@@ -517,5 +517,6 @@ class OBCameraNode {
int laser_on_off_mode_ = 0;
std::unique_ptr<ob::Align> align_filter_ = nullptr;
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
bool retry_on_usb3_detection_failure_ = false;
};
} // namespace orbbec_camera
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -85,6 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -85,6 +85,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2R.launch.py
+5 -4
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@@ -23,7 +23,7 @@ def generate_launch_description():
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_width', default_value='1280'),
DeclareLaunchArgument('color_height', default_value='720'),
DeclareLaunchArgument('color_fps', default_value='30'),
DeclareLaunchArgument('color_fps', default_value='10'),
DeclareLaunchArgument('color_format', default_value='MJPG'),
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('color_qos', default_value='default'),
@@ -31,21 +31,21 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
DeclareLaunchArgument('depth_width', default_value='848'),
DeclareLaunchArgument('depth_height', default_value='480'),
DeclareLaunchArgument('depth_fps', default_value='30'),
DeclareLaunchArgument('depth_fps', default_value='10'),
DeclareLaunchArgument('depth_format', default_value='Y16'),
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('depth_qos', default_value='default'),
DeclareLaunchArgument('depth_camera_info_qos', default_value='default'),
DeclareLaunchArgument('left_ir_width', default_value='848'),
DeclareLaunchArgument('left_ir_height', default_value='480'),
DeclareLaunchArgument('left_ir_fps', default_value='30'),
DeclareLaunchArgument('left_ir_fps', default_value='10'),
DeclareLaunchArgument('left_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_width', default_value='848'),
DeclareLaunchArgument('right_ir_height', default_value='480'),
DeclareLaunchArgument('right_ir_fps', default_value='30'),
DeclareLaunchArgument('right_ir_fps', default_value='10'),
DeclareLaunchArgument('right_ir_format', default_value='Y8'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
@@ -108,6 +108,7 @@ def generate_launch_description():
DeclareLaunchArgument('depth_precision', default_value='1mm'),
# Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate.
DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2VL.launch.py
+1
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@@ -78,6 +78,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
]
# Node configuration
orbbec_camera/launch/gemini2XL.launch.py
+1
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@@ -94,6 +94,7 @@ def generate_launch_description():
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
]
# Node configuration
orbbec_camera/src/ob_camera_node.cpp
+3
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@@ -134,6 +134,8 @@ void OBCameraNode::setupDevices() {
}
auto info = device_->getDeviceInfo();
try {
device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
retry_on_usb3_detection_failure_);
if (depth_registration_) {
align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
}
@@ -743,6 +745,7 @@ void OBCameraNode::getParameters() {
std::string align_target_stream_str_;
setAndGetNodeParameter<std::string>(align_target_stream_str_, "align_target_stream", "COLOR");
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure", false);
}
void OBCameraNode::setupTopics() {