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Big refactoring code

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* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file
This commit is contained in:
默存
2023-02-06 17:26:10 +08:00
parent 04e4d4151e
commit 202719bd8c
59 changed files with 4931 additions and 806 deletions
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orbbec_camera/src/ros_service.cpp
+8 -8
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@@ -21,7 +21,7 @@ namespace orbbec_camera {
void OBCameraNode::setupCameraCtrlServices() {
using std_srvs::srv::SetBool;
for (auto stream_index : IMAGE_STREAMS) {
auto stream_name = stream_name_[stream_index.first];
auto stream_name = stream_name_[stream_index];
std::string service_name = "get_" + stream_name + "_exposure";
get_exposure_srv_[stream_index] = node_->create_service<GetInt32>(
service_name,
@@ -497,16 +497,16 @@ void OBCameraNode::toggleSensorCallback(const std::shared_ptr<SetBool::Request>&
const stream_index_pair& stream_index) {
std::string msg;
if (request->data) {
if (enable_[stream_index]) {
msg = stream_name_[stream_index.first] + " Already ON";
if (enable_stream_[stream_index]) {
msg = stream_name_[stream_index] + " Already ON";
}
RCLCPP_INFO_STREAM(logger_, "toggling sensor " << stream_name_[stream_index.first] << " ON");
RCLCPP_INFO_STREAM(logger_, "toggling sensor " << stream_name_[stream_index] << " ON");
} else {
if (!enable_[stream_index]) {
msg = stream_name_[stream_index.first] + " Already OFF";
if (!enable_stream_[stream_index]) {
msg = stream_name_[stream_index] + " Already OFF";
}
RCLCPP_INFO_STREAM(logger_, "toggling sensor " << stream_name_[stream_index.first] << " OFF");
RCLCPP_INFO_STREAM(logger_, "toggling sensor " << stream_name_[stream_index] << " OFF");
}
if (!msg.empty()) {
RCLCPP_ERROR_STREAM(logger_, msg);
@@ -521,7 +521,7 @@ bool OBCameraNode::toggleSensor(const stream_index_pair& stream_index, bool enab
std::string& msg) {
try {
pipeline_->stop();
enable_[stream_index] = enabled;
enable_stream_[stream_index] = enabled;
setupProfiles();
startPipeline();
return true;