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Update launch file and sync interval duration

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This commit is contained in:
Joe Dong
2024-03-26 11:06:28 +08:00
parent 13d707ff3c
commit 2a666ea345
2 changed files with 4 additions and 2 deletions
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orbbec_camera/launch/femto.launch.py
+1 -1
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@@ -69,7 +69,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('enable_frame_sync', default_value='false'), DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'), DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'), DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('align_mode', default_value='HW'),
orbbec_camera/src/d2c_viewer.cpp
+3 -1
View File
@@ -30,7 +30,9 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
node_, "depth/image_raw", depth_qos); node_, "depth/image_raw", depth_qos);
sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_, sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(MySyncPolicy(10), *rgb_sub_,
*depth_sub_); *depth_sub_);
sync_->setMaxIntervalDuration(rclcpp::Duration::from_seconds(1.0)); // 1s // set 2ms as the max interval duration
int64_t max_interval_duration_ns = 2000000;
sync_->setMaxIntervalDuration(rclcpp::Duration::from_nanoseconds(max_interval_duration_ns));
using std::placeholders::_1; using std::placeholders::_1;
using std::placeholders::_2; using std::placeholders::_2;