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Merge branch 'feature/runtime-stream-profile-service' into merge/ros_2.9.2

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slz
2026-07-09 10:03:30 +08:00
parent 2ca9af35e8 b5e4d04454
commit 2a3a8235ed
6 changed files with 524 additions and 104 deletions
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orbbec_camera/src/ros_service.cpp
+31
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@@ -357,6 +357,10 @@ void OBCameraNode::setupCameraCtrlServices() {
"set_image_registration_mode", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
setImageRegistrationModeCallback(request, response);
set_stream_profile_srv_ = node_->create_service<SetStreamProfile>(
"set_stream_profile", [this](const std::shared_ptr<SetStreamProfile::Request> request,
std::shared_ptr<SetStreamProfile::Response> response) {
setStreamProfileCallback(request, response);
});
get_streams_enable_srv_ = node_->create_service<GetBool>(
"get_streams_enable", [this](const std::shared_ptr<GetBool::Request> request,
@@ -746,6 +750,33 @@ void OBCameraNode::setImageRegistrationModeCallback(
rollback_after_error(e.what());
} catch (...) {
rollback_after_error("unknown error");
void OBCameraNode::setStreamProfileCallback(
const std::shared_ptr<SetStreamProfile::Request>& request,
std::shared_ptr<SetStreamProfile::Response>& response) {
try {
std::vector<PendingStreamProfile> pending_profiles;
std::string message;
if (!validateStreamProfileRequest(request, pending_profiles, message)) {
response->success = false;
response->message = message;
return;
}
if (!applyStreamProfiles(pending_profiles, message)) {
response->success = false;
response->message = message;
return;
}
response->success = true;
response->message = message;
} catch (const ob::Error& e) {
response->success = false;
response->message = orbbec_camera::formatObErrorWithStatus(e);
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}