Add the enable switch function for network device enumeration.

README.MD

@@ -335,6 +335,8 @@ The following are the launch parameters available:
 - `gyro_range` : The range of the gyroscope, the optional values
   are `16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`. The specific value depends on the current
   camera.
+- `enumerate_net_device` : Whether to enable the function of enumerating network devices. True means enabled, false means disabled.
+  This feature is only supported by Femto Mega and Gemini 2 XL devices. When accessing these devices through the network, the IP address of the device needs to be configured in advance. The enable switch needs to be set to true.
 
 ## Depth work mode switch
 - Before starting the camera, depth work mode (depth_work_mode) can be configured for the corresponding xxx.launch.py file's support.

README_CN.MD

@@ -322,6 +322,8 @@ ros2 launch orbbec_camera multi_camera.launch.py
   `100hz`,`200hz`,`500hz`,`1khz`,`2khz`,`4khz`,`8khz`,`16khz`,`32khz`。具体的值取决于当前的相机型号。
 - `gyro_range` : 陀螺仪的量程, 可选值为`16dps`,`31dps`,`62dps`,`125dps`,`250dps`,`500dps`,`1000dps`,`2000dps`
   。具体的值取决于当前的相机型号。
+- `enumerate_net_device` : 是否开启枚举网络设备的功能，true为开启，false为关闭，仅Femto mega和Gemini 2 XL设备支持。
+  当通过网络方式访问以上设备时，需提前配置好设备的IP地址，使能开关需要配置成true。
 
 ## 深度模式切换：
 - 启动相机前,可通过配置对应相继的xxx.launch.py的深度模式(depth_work_mode)支持。

orbbec_camera/launch/femto_mega.launch.py

@@ -59,6 +59,7 @@ def generate_launch_description():
         DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
+        DeclareLaunchArgument('enumerate_net_device', default_value='false'),
         DeclareLaunchArgument('log_level', default_value='none'),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/launch/gemini2XL.launch.py

@@ -67,6 +67,7 @@ def generate_launch_description():
         DeclareLaunchArgument('tf_publish_rate', default_value='10.0'),
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
+        DeclareLaunchArgument('enumerate_net_device', default_value='false'),
         DeclareLaunchArgument('log_level', default_value='none'),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -88,6 +88,8 @@ void OBCameraNodeDriver::init() {
   serial_number_ = declare_parameter<std::string>("serial_number", "");
   device_num_ = static_cast<int>(declare_parameter<int>("device_num", 1));
   usb_port_ = declare_parameter<std::string>("usb_port", "");
+  auto enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", "false");
+  ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
   ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
                                         const std::shared_ptr<ob::DeviceList> &added_list) {
     (void)added_list;