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add rest timestamp and syncImmediately service

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This commit is contained in:
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/src/ob_camera_node.cpp
+1
View File
@@ -2077,6 +2077,7 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
.toImageMsg(*image_msg);
CHECK_NOTNULL(image_msg.get());
image_msg->header.stamp = timestamp;
RCLCPP_INFO_STREAM(logger_, "timestamp " << frame_timestamp);
image_msg->is_bigendian = false;
image_msg->step = width * unit_step_size_[stream_index];
image_msg->header.frame_id = frame_id;
orbbec_camera/src/ros_service.cpp
+49
View File
@@ -169,6 +169,16 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<GetInt32::Response> response) {
getLdpMeasureDistanceCallback(request, response);
});
set_sync_immediately_srv_ = node_->create_service<SetBool>(
"set_sync_immediately", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setSYNCImmediatelyCallback(request, response);
});
set_reset_timestamp_srv_ = node_->create_service<SetBool>(
"set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setRESETTimestampCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -767,4 +777,43 @@ void OBCameraNode::setIRLongExposureCallback(
response->success = false;
}
}
void OBCameraNode::setSYNCImmediatelyCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request;
try {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setRESETTimestampCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request;
try {
device_->setBoolProperty(OB_PROP_TIMER_RESET_SIGNAL_BOOL, true);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera