From 31a0181f6a3b6fde12f767399252853fb1bda6bb Mon Sep 17 00:00:00 2001 From: ob-yalian Date: Mon, 28 Sep 2026 15:17:37 +0800 Subject: [PATCH] fix: update default values for launch arguments in dabai_a and dabai_al launch files --- orbbec_camera/launch/dabai_a.launch.py | 5 ++--- orbbec_camera/launch/dabai_al.launch.py | 6 ++++-- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/orbbec_camera/launch/dabai_a.launch.py b/orbbec_camera/launch/dabai_a.launch.py index 7714ffcd..8760381b 100644 --- a/orbbec_camera/launch/dabai_a.launch.py +++ b/orbbec_camera/launch/dabai_a.launch.py @@ -67,7 +67,6 @@ def load_parameters(context, args): return result - def generate_launch_description(): args = [ DeclareLaunchArgument('camera_name', default_value='camera'), @@ -190,7 +189,7 @@ def generate_launch_description(): DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), - DeclareLaunchArgument('enable_false_positive_filter', default_value='false'), + DeclareLaunchArgument('enable_false_positive_filter', default_value='true'), DeclareLaunchArgument('enable_enhanced_depth', default_value='false'), DeclareLaunchArgument('enhanced_depth_model_path', default_value=''), DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'), @@ -217,7 +216,7 @@ def generate_launch_description(): DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable DeclareLaunchArgument('diagnostic_period', default_value='1.0'), DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('device_preset', default_value='Standard'), + DeclareLaunchArgument('device_preset', default_value=''), DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('enable_sync_host_time', default_value='false'), DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds diff --git a/orbbec_camera/launch/dabai_al.launch.py b/orbbec_camera/launch/dabai_al.launch.py index 82d58b3c..f2592bfa 100644 --- a/orbbec_camera/launch/dabai_al.launch.py +++ b/orbbec_camera/launch/dabai_al.launch.py @@ -190,7 +190,7 @@ def generate_launch_description(): DeclareLaunchArgument('enable_temporal_filter', default_value='false'), DeclareLaunchArgument('enable_disparity_to_depth', default_value='true'), DeclareLaunchArgument('enable_hole_filling_filter', default_value='false'), - DeclareLaunchArgument('enable_false_positive_filter', default_value='false'), + DeclareLaunchArgument('enable_false_positive_filter', default_value='true'), DeclareLaunchArgument('enable_enhanced_depth', default_value='false'), DeclareLaunchArgument('enhanced_depth_model_path', default_value=''), DeclareLaunchArgument('enhanced_depth_confidence_threshold', default_value='51'), @@ -218,7 +218,7 @@ def generate_launch_description(): DeclareLaunchArgument('diagnostic_period', default_value='1.0'), DeclareLaunchArgument('enable_laser', default_value='true'), DeclareLaunchArgument('depth_precision', default_value=''), - DeclareLaunchArgument('device_preset', default_value='Standard'), + DeclareLaunchArgument('device_preset', default_value=''), DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_sync_host_time', default_value='false'), @@ -235,6 +235,8 @@ def generate_launch_description(): DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_firmware_log', default_value='false'), DeclareLaunchArgument('monitor_poll_interval_sec', default_value='-1'), + DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'), + DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'), #color image transport plugins DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),