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fix laser settings

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This commit is contained in:
jj
2024-10-28 18:53:27 +08:00
parent 2cd55b092d
commit 355c48bbf1
2 changed files with 10 additions and 4 deletions
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orbbec_camera/src/ros_service.cpp
+8 -2
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@@ -459,9 +459,15 @@ void OBCameraNode::setLaserEnableCallback(
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
int laser_enable = request->data? 1 : 0;
auto device_info = device_->getDeviceInfo();
auto pid = device_info->getPid();
int laser_enable = request->data ? 1 : 0;
try {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
if (isGemini335PID(pid)) {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else {
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();