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feat: add support for timestamp clock type

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slz
2026-05-25 17:00:53 +08:00
parent 8148f6aede
commit 2200cf54be
24 changed files with 69 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+3
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@@ -87,6 +87,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
OBDeviceAccessMode stringToAccessMode(const std::string& mode_str);
std::string accessModeToString(OBDeviceAccessMode mode);
OBClockType timestampClockTypeFromString(const std::string& clock_type_str);
std::string timestampClockTypeToString(OBClockType clock_type);
private:
const rclcpp::NodeOptions node_options_;
@@ -131,6 +133,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
int connection_delay_ = 100;
bool enable_sync_host_time_ = true;
std::chrono::milliseconds time_sync_period_{6000};
std::string timestamp_clock_type_str_;
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;