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refactor: move Action Command sender to standalone node

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This commit is contained in:
slz
2026-09-03 17:21:50 +08:00
parent 62c12ff542
commit 0e6b43e2d4
5 changed files with 138 additions and 111 deletions
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orbbec_camera/CMakeLists.txt
+18 -1
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@@ -269,6 +269,22 @@ orbbec_target_dependencies(${PROJECT_NAME}
rclcpp_components_register_node(
${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
)
add_library(gige_action_command_component SHARED src/gige_action_command_node.cpp)
target_include_directories(gige_action_command_component PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_directories(gige_action_command_component PRIVATE ${ORBBEC_LIBS_DIR})
target_link_libraries(gige_action_command_component
${orbbec_camera_msgs_TARGETS}
OrbbecSDK
rclcpp::rclcpp
)
orbbec_target_dependencies(gige_action_command_component rclcpp_components)
rclcpp_components_register_node(
gige_action_command_component
PLUGIN "orbbec_camera::GigEActionCommandNode"
EXECUTABLE gige_action_command_node
)
# Add nodes using the macro
add_orbbec_executable(list_devices_node tools/list_devices_node.cpp)
add_orbbec_executable(list_depth_work_mode_node tools/list_depth_work_mode.cpp)
@@ -360,7 +376,8 @@ rclcpp_components_register_node(
)
# Install rules
install(TARGETS ${PROJECT_NAME} frame_latency start_benchmark multi_save_rgbir ARCHIVE DESTINATION lib
install(TARGETS ${PROJECT_NAME} gige_action_command_component frame_latency start_benchmark
multi_save_rgbir ARCHIVE DESTINATION lib
LIBRARY DESTINATION lib RUNTIME DESTINATION bin
)