Add periodic host time synchronization and sync period parameter

docs/launch_parameters.md

@@ -57,8 +57,9 @@ The following are the launch parameters available:
   * The delay time in milliseconds for reopening the device. Some devices, such as Astra mini, require a longer time to initialize and reopening the device immediately can cause firmware crashes when hot plugging
 
 * **[color|depth|left_ir|right_ir|ir]_width,[color|depth|left_ir|right_ir|ir]_height,[color|depth|left_ir|right_ir|ir]_fps,[color|depth|left_ir|right_ir|ir]_format**
+  
   * The resolution and frame rate of the sensor stream
-
+  
 * **enable_color_auto_exposure_priority**
   * Enable the Color auto exposure priority
 
@@ -69,8 +70,9 @@ The following are the launch parameters available:
   * Set the Color exposure
 
 * **color_gain**
+  
   * Set the Color gain
-
+  
 * **enable_color_auto_white_balance**
   * Enable the Color auto white balance
 
@@ -294,8 +296,14 @@ The following are the launch parameters available:
   * `DEPTH`:Align color to depth
 
 * **diagnostic_period**
+  
   * Diagnostic period in seconds
-
+  
+* **time_sync_period**
+  
+  * Interval for synchronizing the camera time with the host system.
+  * Unit: seconds.
+  
 * **enable_laser**
   * Enable the laser. The default value is `true`
 

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -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_;

orbbec_camera/launch/gemini_330_series.launch.py

@@ -239,7 +239,8 @@ def generate_launch_description():
         DeclareLaunchArgument('spatial_moderate_filter_radius', default_value='-1'),
         DeclareLaunchArgument('align_mode', default_value='SW'),
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
-        DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
+        DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
+        DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
         DeclareLaunchArgument('enable_laser', default_value='true'),
         DeclareLaunchArgument('depth_precision', default_value=''),
         DeclareLaunchArgument('device_preset', default_value='Default'),

orbbec_camera/src/ob_camera_node.cpp

@@ -1882,9 +1882,12 @@ void OBCameraNode::getParameters() {
     device_->enableGlobalTimestamp(true);
   }
   setAndGetNodeParameter<int>(frames_per_trigger_, "frames_per_trigger", 2);
-  long software_trigger_period = 33;
+  int software_trigger_period = 33;
-  setAndGetNodeParameter<long>(software_trigger_period, "software_trigger_period", 33);
+  setAndGetNodeParameter<int>(software_trigger_period, "software_trigger_period", 33);
   software_trigger_period_ = std::chrono::milliseconds(software_trigger_period);
+  double time_sync_period = 6.0;
+  setAndGetNodeParameter<double>(time_sync_period, "time_sync_period", 6.0);
+  time_sync_period_ = std::chrono::milliseconds((int)(time_sync_period*1000));
   setAndGetNodeParameter<int>(gmsl_trigger_fps_, "gmsl_trigger_fps", 3000);
   setAndGetNodeParameter<bool>(enable_gmsl_trigger_, "enable_gmsl_trigger", false);
   setAndGetNodeParameter<std::string>(interleave_ae_mode_, "interleave_ae_mode", "hdr");
@@ -1971,6 +1974,7 @@ void OBCameraNode::setupTopics() {
     setupCameraCtrlServices();
     setupPublishers();
     setupDiagnosticUpdater();
+    setupPeriodicHostTimeSync();
   } catch (const ob::Error &e) {
     RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage());
     throw std::runtime_error(e.getMessage());
@@ -2079,6 +2083,37 @@ void OBCameraNode::setupDiagnosticUpdater() {
   }
 }
 
+void OBCameraNode::setupPeriodicHostTimeSync() {
+    if (time_sync_period_.count() <= 0) {
+        RCLCPP_INFO(logger_, "Periodic host time sync disabled (time_sync_period <= 0)");
+        return;
+    }
+    try {
+        RCLCPP_INFO_STREAM(logger_, "Enable periodic host time sync every " << time_sync_period_.count() << " ms");
+        sync_timer_ = node_->create_wall_timer(
+            std::chrono::milliseconds(time_sync_period_),
+            [this]() {
+                try {
+                    device_->timerSyncWithHost();
+                    RCLCPP_DEBUG(logger_, "Camera time synchronized with host");
+                } catch (const ob::Error &e) {
+                    RCLCPP_WARN_STREAM(logger_, "Time sync failed: " << e.getMessage());
+                } catch (const std::exception &e) {
+                    RCLCPP_WARN_STREAM(logger_, "Time sync failed: " << e.what());
+                } catch (...) {
+                    RCLCPP_WARN(logger_, "Time sync failed due to unknown error");
+                }
+            }
+        );
+    } catch (const ob::Error &e) {
+        RCLCPP_ERROR_STREAM(logger_, "Failed to setup periodic host time sync: " << e.getMessage());
+    } catch (const std::exception &e) {
+        RCLCPP_ERROR_STREAM(logger_, "Failed to setup periodic host time sync: " << e.what());
+    } catch (...) {
+        RCLCPP_ERROR(logger_, "Failed to setup periodic host time sync due to unknown error");
+    }
+}
+
 void OBCameraNode::setupPipelineConfig() {
   if (pipeline_config_) {
     pipeline_config_.reset();