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ob-yalian
2025-12-05 01:26:11 +00:00
parent 486e1e194a
commit 1333a15635
96 changed files with 283 additions and 94 deletions
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en/_sources/source/4_application_guide/services.md.txt
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@@ -77,6 +77,10 @@
ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_ir_long_exposure`
```bash
ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_ir_auto_exposure`
```bash
ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
@@ -86,6 +90,12 @@
ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
```
* `/camera/set_ir_mirror`, `/camera/set_ir_flip`, `/camera/set_ir_rotation`
```bash
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_flip std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/set_ir_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
```
* `/camera/switch_ir`
```bash
ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
@@ -123,6 +133,15 @@
ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/set_ptp_config` & `/camera/get_ptp_config`
```bash
ros2 service call /camera/set_ptp_config std_srvs/srv/SetBool '{data: true}'
ros2 service call /camera/get_ptp_config orbbec_camera_msgs/srv/GetBool '{}'
```
* `/camera/get_lrm_measure_distance`
```bash
ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* `/camera/set_fan_work_mode`
```bash
ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
@@ -152,7 +171,12 @@
* `/camera/send_software_trigger`
```bash
ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
```* `/camera/set_reset_timestamp`
```
* `/camera/set_sync_hosttime`
```bash
ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
```
* `/camera/set_reset_timestamp`
```bash
# Only available when time_domain param is set to device
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
@@ -169,8 +193,29 @@
```bash
# Set DecimationFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
# Set SpatialAdvancedFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
# Set SequenceIdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'
# Set ThresholdFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'
# Set NoiseRemovalFilter
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'
# Set HardwareNoiseRemoval
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}'
# Set SpatialFastFilter
# filter_param: [radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'
# Set SpatialModerateFilter
# filter_param: [disp_diff, magnitude, radius]
ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'
```
### Data Capture & Calibration Management