i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-07 21:37:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add periodic host time synchronization and sync period parameter

Browse Source
This commit is contained in:
xiexun
2025-09-02 17:06:59 +08:00
parent ce52dbd997
commit 27017aa5ed
4 changed files with 54 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
View File
@@ -226,6 +226,8 @@ class OBCameraNode {
void setupDiagnosticUpdater();
void setupPeriodicHostTimeSync();
void onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapper& status);
void setupCameraCtrlServices();
@@ -738,7 +740,9 @@ class OBCameraNode {
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
rclcpp::TimerBase::SharedPtr diagnostic_timer_;
rclcpp::TimerBase::SharedPtr sync_timer_;
std::chrono::milliseconds software_trigger_period_{33};
std::chrono::milliseconds time_sync_period_{6000};
bool enable_heartbeat_ = false;
bool enable_color_undistortion_ = false;
std::shared_ptr<image_publisher> color_undistortion_publisher_;