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add rest timestamp and syncImmediately service

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jj
2024-10-31 20:48:56 +08:00
parent 3ea2ddae13
commit 0dfcaf3851
3 changed files with 56 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6
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@@ -289,6 +289,10 @@ class OBCameraNode {
void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void setSYNCImmediatelyCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -433,6 +437,8 @@ class OBCameraNode {
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;