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[launch]Remove laser_on_off_mode params

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jj
2024-12-18 16:18:44 +08:00
parent 812abe52bc
commit 1f036459a8
5 changed files with 39 additions and 42 deletions
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orbbec_camera/src/ob_camera_node.cpp
-8
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@@ -225,10 +225,6 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting laser control to " << enable_laser_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_BOOL, enable_laser_);
}
if (device_->isPropertySupported(OB_PROP_LASER_ON_OFF_MODE_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting laser on off mode to " << laser_on_off_mode_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_ON_OFF_MODE_INT, laser_on_off_mode_);
}
if (!device_preset_.empty()) {
try {
RCLCPP_INFO_STREAM(logger_, "Available presets:");
@@ -1247,7 +1243,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
setAndGetNodeParameter<double>(diagnostic_period_, "diagnostic_period", 1.0);
setAndGetNodeParameter<bool>(enable_laser_, "enable_laser", true);
setAndGetNodeParameter<int>(laser_on_off_mode_, "laser_on_off_mode", 0);
std::string align_target_stream_str_;
setAndGetNodeParameter<std::string>(align_target_stream_str_, "align_target_stream", "COLOR");
align_target_stream_ = obStreamTypeFromString(align_target_stream_str_);
@@ -1260,9 +1255,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
if (enable_3d_reconstruction_mode_) {
laser_on_off_mode_ = 1; // 0 off, 1 on-off, 1 off-on
}
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "device");
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info.get());