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Merge remote-tracking branch 'origin/feature/timestamp-clock-type' into merge/sdk_2.8.8

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ob-yalian
2026-06-02 16:46:20 +08:00
parent b9c3bfd627 2200cf54be
commit 3a3eaab02c
24 changed files with 69 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+3
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@@ -87,6 +87,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
OBDeviceAccessMode stringToAccessMode(const std::string& mode_str);
std::string accessModeToString(OBDeviceAccessMode mode);
OBClockType timestampClockTypeFromString(const std::string& clock_type_str);
std::string timestampClockTypeToString(OBClockType clock_type);
private:
const rclcpp::NodeOptions node_options_;
@@ -131,6 +133,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
int connection_delay_ = 100;
bool enable_sync_host_time_ = true;
std::chrono::milliseconds time_sync_period_{6000};
std::string timestamp_clock_type_str_;
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
orbbec_camera/launch/astra.launch.py
+1
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@@ -68,6 +68,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
orbbec_camera/launch/astra2.launch.py
+1
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@@ -105,6 +105,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
orbbec_camera/launch/dabai_a.launch.py
+1
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@@ -207,6 +207,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/dabai_al.launch.py
+1
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@@ -209,6 +209,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -82,6 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_lut_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1
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@@ -76,6 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_mgc_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('enable_lut_noise_removal_filter', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('align_mode', default_value='HW'),
orbbec_camera/launch/femto.launch.py
+1
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@@ -83,6 +83,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="device"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
orbbec_camera/launch/femto_bolt.launch.py
+1
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@@ -111,6 +111,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
orbbec_camera/launch/femto_mega.launch.py
+1
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@@ -117,6 +117,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Custom'),
orbbec_camera/launch/gemini2.launch.py
+1
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@@ -133,6 +133,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
orbbec_camera/launch/gemini210.launch.py
+1
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@@ -131,6 +131,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
]
orbbec_camera/launch/gemini2L.launch.py
+1
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@@ -184,6 +184,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_heartbeat", default_value="false"),
DeclareLaunchArgument("enable_firmware_log", default_value="false"),
DeclareLaunchArgument("time_domain", default_value="global"),
DeclareLaunchArgument("timestamp_clock_type", default_value=""), # realtime or monotonic, default is realtime.
DeclareLaunchArgument("enable_frame_timestamp_csv", default_value="false"),
DeclareLaunchArgument("frame_timestamp_csv_file", default_value=""),
DeclareLaunchArgument("config_file_path", default_value=""),
orbbec_camera/launch/gemini305.launch.py
+1
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@@ -272,6 +272,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini305_g.launch.py
+1
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@@ -272,6 +272,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini345.launch.py
+1
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@@ -206,6 +206,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini345_lg.launch.py
+1
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@@ -209,6 +209,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini435_le.launch.py
+1
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@@ -240,6 +240,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -258,6 +258,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1
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@@ -257,6 +257,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1
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@@ -162,6 +162,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='device'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''),# realtime or monotonic, default is realtime.
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
orbbec_camera/launch/lidar.launch.py
+5
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@@ -181,6 +181,11 @@ def generate_launch_description():
default_value='device', # global, device, system
description='Timestamp domain: device (device clock), global (time sync), or system (host clock).'
),
DeclareLaunchArgument(
'timestamp_clock_type',
default_value='',
description='SDK timestamp clock type: realtime or monotonic, default is realtime.'
),
DeclareLaunchArgument(
'config_file_path',
default_value='',
orbbec_camera/launch/orbbec_camera.launch.py
+1
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@@ -28,6 +28,7 @@ def generate_launch_arguments():
DeclareLaunchArgument('camera_model', default_value=default_camera_model),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('timestamp_clock_type', default_value=''), # realtime or monotonic, default is realtime.
#multi-device sync param
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('usb_port', default_value=''),
orbbec_camera/src/ob_camera_node_driver.cpp
+40
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@@ -267,6 +267,19 @@ void OBCameraNodeDriver::init() {
} else {
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
}
timestamp_clock_type_str_ = declare_parameter<std::string>("timestamp_clock_type", "");
if (!timestamp_clock_type_str_.empty()) {
auto timestamp_clock_type = timestampClockTypeFromString(timestamp_clock_type_str_);
try {
ctx_->setTimestampClockType(timestamp_clock_type);
auto actual_timestamp_clock_type = ctx_->getTimestampClockType();
RCLCPP_INFO_STREAM(logger_, "Set timestamp clock type to "
<< timestampClockTypeToString(actual_timestamp_clock_type));
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK timestamp clock type: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
}
applyForceIpConfig();
device_type_ = declare_parameter<std::string>("device_type", "camera");
@@ -1581,6 +1594,33 @@ OBDeviceAccessMode OBCameraNodeDriver::stringToAccessMode(const std::string &mod
}
}
OBClockType OBCameraNodeDriver::timestampClockTypeFromString(const std::string &clock_type_str) {
std::string lower_type;
std::transform(clock_type_str.begin(), clock_type_str.end(), std::back_inserter(lower_type),
[](auto ch) { return tolower(ch); });
if (lower_type == "realtime") {
return OB_CLOCK_TYPE_REALTIME;
}
if (lower_type == "monotonic") {
return OB_CLOCK_TYPE_MONOTONIC;
}
RCLCPP_WARN_STREAM(logger_,
"Unknown timestamp_clock_type: " << clock_type_str << ", using realtime");
return OB_CLOCK_TYPE_REALTIME;
}
std::string OBCameraNodeDriver::timestampClockTypeToString(OBClockType clock_type) {
switch (clock_type) {
case OB_CLOCK_TYPE_MONOTONIC:
return "monotonic";
case OB_CLOCK_TYPE_REALTIME:
default:
return "realtime";
}
}
std::string OBCameraNodeDriver::accessModeToString(OBDeviceAccessMode mode) {
switch (mode) {
case OB_DEVICE_EXCLUSIVE_ACCESS: