Add laser energy level param

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -527,5 +527,6 @@ class OBCameraNode {
   OBStreamType align_target_stream_ = OB_STREAM_COLOR;
   bool retry_on_usb3_detection_failure_ = false;
   std::atomic_bool is_camera_node_initialized_{false};
+  int laser_energy_level_ = -1;
 };
 }  // namespace orbbec_camera

orbbec_camera/launch/astra.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra2.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_adv.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_embedded_s.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_pro2.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_stereo_u3.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_d1.launch.py

@@ -52,6 +52,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcl.py

@@ -85,6 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='true'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -65,6 +65,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw2.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max.launch.py

@@ -53,6 +53,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -65,6 +65,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_pro.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/deeya.launch.py

@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto.launch.py

@@ -73,6 +73,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_bolt.launch.py

@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='true'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='SW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_mega.launch.py

@@ -86,6 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2.launch.py

@@ -86,6 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2L.launch.py

@@ -86,6 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2VL.launch.py

@@ -79,6 +79,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2XL.launch.py

@@ -95,6 +95,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_330_series.launch.py

@@ -114,6 +114,7 @@ def generate_launch_description():
         # Laser on/off alternate mode, 0: off, 1: on-off alternate, 2: off-on alternate.
         DeclareLaunchArgument('laser_on_off_mode', default_value='0'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e_lite.launch.py

@@ -52,6 +52,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew_lite.launch.py

@@ -51,11 +51,11 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_soft_filter', default_value='true'),
         DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
-        DeclareLaunchArgument('jpeg_decoder', default_value='avdec_mjpeg'),
-        DeclareLaunchArgument('video_convert', default_value='videoconvert'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_uw.launch.py

@@ -65,6 +65,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
+        DeclareLaunchArgument('laser_energy_level', default_value='-1'),
     ]
 
     # Node configuration

orbbec_camera/src/ob_camera_node.cpp

@@ -140,6 +140,14 @@ void OBCameraNode::setupDevices() {
       device_->setBoolProperty(OB_PROP_DEVICE_USB3_REPEAT_IDENTIFY_BOOL,
                                retry_on_usb3_detection_failure_);
     }
+    if (laser_energy_level_ != -1 &&
+        device_->isPropertySupported(OB_PROP_LASER_ENERGY_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
+      RCLCPP_INFO_STREAM(logger_, "Setting laser energy level to " << laser_energy_level_);
+      device_->setIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT, laser_energy_level_);
+      auto new_laser_energy_level = device_->getIntProperty(OB_PROP_LASER_ENERGY_LEVEL_INT);
+      RCLCPP_INFO_STREAM(logger_,
+                         "Laser energy level set to " << new_laser_energy_level << " (new value)");
+    }
     if (depth_registration_) {
       align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
     }
@@ -898,6 +906,7 @@ void OBCameraNode::getParameters() {
   align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
   setAndGetNodeParameter<bool>(retry_on_usb3_detection_failure_, "retry_on_usb3_detection_failure",
                                false);
+  setAndGetNodeParameter<int>(laser_energy_level_, "laser_energy_level", -1);
 }
 
 void OBCameraNode::setupTopics() {