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fix: improve LDP configuration error handling in setupDevices

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This commit is contained in:
ob-yalian
2026-07-22 14:45:13 +08:00
parent ec6bc228b7
commit 1469a0a121
1 changed files with 23 additions and 16 deletions
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orbbec_camera/src/ob_camera_node.cpp
+23 -16
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@@ -1104,24 +1104,31 @@ void OBCameraNode::setupDevices() {
<< disparity_to_depth_mode_ << "', keeping default settings");
}
}
if (should_apply_launch_config("enable_ldp") &&
device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
if (!enable_ldp_) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, laser_enable);
} else {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
try {
if (should_apply_launch_config("enable_ldp") &&
device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
if (!enable_ldp_) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
} else {
device_->setBoolProperty(OB_PROP_LDP_BOOL, enable_ldp_);
}
}
RCLCPP_INFO_STREAM(
logger_, "Current LDP: " << (device_->getBoolProperty(OB_PROP_LDP_BOOL) ? "ON" : "OFF"));
}
RCLCPP_INFO_STREAM(
logger_, "Current LDP: " << (device_->getBoolProperty(OB_PROP_LDP_BOOL) ? "ON" : "OFF"));
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_,
"Skipping LDP configuration: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Skipping LDP configuration: " << e.what());
}
if (ldp_power_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, OB_PERMISSION_WRITE)) {