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feat: add frame timestamp CSV logging arguments to launch files

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This commit is contained in:
slz
2026-04-13 10:42:09 +08:00
parent b82ebc51fc
commit 1b1b671592
18 changed files with 37 additions and 1 deletions
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orbbec_camera/launch/astra.launch.py
+2
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@@ -68,6 +68,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/astra2.launch.py
+2
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@@ -105,6 +105,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
# Node configuration
orbbec_camera/launch/dabai_a.launch.py
+2
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@@ -206,6 +206,8 @@ def generate_launch_description():
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/dabai_al.launch.py
+2
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@@ -208,6 +208,8 @@ def generate_launch_description():
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/dabai_dcw2.launch.py
+2
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@@ -82,6 +82,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_lut_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/dabai_max_pro.launch.py
+2
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@@ -76,6 +76,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_mgc_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_lut_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/femto.launch.py
+2
View File
@@ -83,6 +83,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="device"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
]
orbbec_camera/launch/femto_bolt.launch.py
+2
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@@ -111,6 +111,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
]
orbbec_camera/launch/femto_mega.launch.py
+2
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@@ -117,6 +117,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
# Force IP parameters
orbbec_camera/launch/gemini2.launch.py
+2
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@@ -131,6 +131,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
# Node configuration
orbbec_camera/launch/gemini210.launch.py
+2
View File
@@ -131,6 +131,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
# Node configuration
orbbec_camera/launch/gemini2L.launch.py
+2
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@@ -121,6 +121,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("enable_noise_removal_filter", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
# Node configuration
orbbec_camera/launch/gemini305.launch.py
+2
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@@ -273,6 +273,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/gemini305_g.launch.py
+2
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@@ -273,6 +273,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/gemini345.launch.py
+2
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@@ -205,6 +205,8 @@ def generate_launch_description():
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/gemini345_lg.launch.py
+2
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@@ -208,6 +208,8 @@ def generate_launch_description():
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/gemini435_le.launch.py
+2
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@@ -240,6 +240,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/orbbec_camera.launch.py
+3 -1
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@@ -33,6 +33,8 @@ def generate_launch_arguments():
DeclareLaunchArgument('device_num', default_value='1'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('trigger_out_enabled', default_value='true'),
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
#instra-process demo set
DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
DeclareLaunchArgument('attach_component_container_enable', default_value='false'),
@@ -182,4 +184,4 @@ def generate_launch_description():
args + [
OpaqueFunction(function=lambda context: create_node_action(context, args))
]
)
)