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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/config/OrbbecSDKConfig_v1.0.xml
+2 -2
View File
@@ -8,7 +8,7 @@
<!-- Log output level, int type, optional values: 0-DEBUG, 1-INFO, 2-WARN, 3-ERROR, 4-FATAL, <!-- Log output level, int type, optional values: 0-DEBUG, 1-INFO, 2-WARN, 3-ERROR, 4-FATAL,
5-OFF --> 5-OFF -->
<!-- File log output level --> <!-- File log output level -->
<FileLogLevel>5</FileLogLevel> <FileLogLevel>0</FileLogLevel>
<!-- Console log output level --> <!-- Console log output level -->
<ConsoleLogLevel>3</ConsoleLogLevel> <ConsoleLogLevel>3</ConsoleLogLevel>
<!-- Default log output file path, string type. If this item is not configured, the default <!-- Default log output file path, string type. If this item is not configured, the default
@@ -89,7 +89,7 @@
<!-- Frame metadata parsing path; optinal values: PayloadHeader, ExtensionHeader--> <!-- Frame metadata parsing path; optinal values: PayloadHeader, ExtensionHeader-->
<FrameMetadataParsingPath>ExtensionHeader</FrameMetadataParsingPath> <FrameMetadataParsingPath>ExtensionHeader</FrameMetadataParsingPath>
<!-- The device corresponding to Astra adv is astra+ --> <!-- The device corresponding to Astra adv is astra+ -->
<AstraAdv> <AstraAdv>
<Depth> <Depth>
orbbec_camera/src/ros_service.cpp
+8 -2
View File
@@ -459,9 +459,15 @@ void OBCameraNode::setLaserEnableCallback(
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) { std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header; (void)request_header;
(void)response; (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 { 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; response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->message = e.getMessage(); response->message = e.getMessage();