feat: add frame timestamp CSV logging arguments to launch files

orbbec_camera/launch/astra.launch.py

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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

@@ -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))
         ]
-    )
+    )