refactor: move Action Command sender to standalone node

orbbec_camera/include/orbbec_camera/gige_action_command_node.h

@@ -0,0 +1,42 @@
+/*******************************************************************************
+ * Copyright (c) 2026 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
+
+#pragma once
+
+#include <memory>
+
+#include <rclcpp/rclcpp.hpp>
+
+#include "libobsensor/hpp/Context.hpp"
+#include "orbbec_camera_msgs/srv/send_action_command.hpp"
+
+namespace orbbec_camera {
+
+class GigEActionCommandNode : public rclcpp::Node {
+ public:
+  explicit GigEActionCommandNode(const rclcpp::NodeOptions& node_options = rclcpp::NodeOptions());
+
+ private:
+  void sendActionCommandCallback(
+      const std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Request> request,
+      std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Response> response);
+
+  std::unique_ptr<ob::Context> context_;
+  rclcpp::Service<orbbec_camera_msgs::srv::SendActionCommand>::SharedPtr
+      send_action_command_service_;
+};
+
+}  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h

@@ -33,7 +33,6 @@
 #include "libobsensor/hpp/Device.hpp"
 #include "libobsensor/hpp/RecordPlayback.hpp"
 #include "orbbec_camera_msgs/srv/set_bag_recording.hpp"
-#include "orbbec_camera_msgs/srv/send_action_command.hpp"
 
 namespace orbbec_camera {
 
@@ -88,10 +87,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
   void setBagRecordingCallback(
       const std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Request> request,
       std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Response> response);
-  void setupActionCommandService();
-  void sendActionCommandCallback(
-      const std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Request> request,
-      std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Response> response);
   void presetUpdateCallback(bool firstCall, OBFwUpdateState state, const char* message,
                             uint8_t percent);
   void updatePresetFirmware(std::string path);
@@ -153,8 +148,6 @@ class OBCameraNodeDriver : public rclcpp::Node {
   rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
   rclcpp::Service<orbbec_camera_msgs::srv::SetBagRecording>::SharedPtr set_bag_recording_srv_ =
       nullptr;
-  rclcpp::Service<orbbec_camera_msgs::srv::SendActionCommand>::SharedPtr send_action_command_srv_ =
-      nullptr;
   std::chrono::time_point<std::chrono::system_clock> start_time_;
   std::string extension_path_;
   static backward::SignalHandling sh;  // for stack trace