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Fix point cloud direction

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This commit is contained in:
默存
2022-06-13 14:58:47 +08:00
parent 9ce0dc4824
commit 3ac3e6d835
18 changed files with 487 additions and 303 deletions
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README.MD
+28 -16
View File
@@ -62,30 +62,44 @@ sudo make install
sudo ldconfig
```
Install `ORBBEC_SDK`
Install `ORBBEC_SDK`,First remove old one if you have installed, **BE CAREFUL**
```bash
# remove old(If you have already installed
cd /usr/local/lib/
sudo rm libOrbbecSDK.so* # BE CAREFUL
sudo rm libpostfilter.so
cd /usr/local/include/
sudo rm -fr libobsensor
# install
cd orbbec_camera/dependencies
tar -xzvf sensor_sdk_v1.2.8_linux.tar.gz
cd SDK/lib
sudo cp libOrbbecSDK.so.1.2.8 libpostfilter.so /usr/local/lib
sudo cp libOrbbecSDK.so.1.2.8 /usr/local/lib
sudo cp libpostfilter.so /usr/local/lib
sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so.1.2
sudo ln -s /usr/local/lib/libOrbbecSDK.so.1.2.8 /usr/local/lib/libOrbbecSDK.so
cd ../include
sudo cp -frd libobsensor /usr/local/include
sudo ldconfig
```
Build
---
## Getting start
---
```bash
cd ~/ros2_ws/
colcon build --event-handlers console_direct+
# build release, Default is Debug
colcon build --event-handlers console_direct+ -DCMAKE_BUILD_TYPE=Release
```
Launch camera node
* On terminal 1
```bash
. ./install/setup.bash
ros2 launch orbbec_camera orbbec.launch.py
ros2 launch orbbec_camera ob_camera.launch.py
```
* On terminal 2
@@ -101,12 +115,6 @@ ros2 service list
ros2 param list
```
---
## Camera control && Information service
---
* Show depth to color extrinsic
```bash
@@ -115,19 +123,19 @@ ros2 topic echo --qos-durability=transient_local /camera/extrinsic/depth_to_colo
* Get device info
```bash
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo "{}"
ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo '{}'
```
* Get SDK version
```bash
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString "{}"
ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString '{}'
```
* Get exposure
```bash
ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 "{}"
ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
```
> If your check `ir` or `depth`, please change ` /camera/get_color_exposure`
to `/camera/get_ir_exposure` or `/camera/get_depth_exposure`, Same below.
@@ -135,12 +143,12 @@ to `/camera/get_ir_exposure` or `/camera/get_depth_exposure`, Same below.
* Get gain
```bash
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 "{}"
ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
```
* Get white balance
```bash
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 "{}"
ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
```
* Set auto exposure
@@ -153,3 +161,7 @@ ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: f
```bash
ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 4600}'
```
---
## Known issues
* TODO:
orbbec_camera/CMakeLists.txt
+1 -1
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@@ -8,7 +8,7 @@ set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC")
set(CMAKE_BUILD_TYPE "Debug")
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic -Wno-unused-variable -Wno-unused-parameter -Werror)
add_compile_options(-Wall -Wextra -Wpedantic -Werror)
endif ()
# find dependencies
orbbec_camera/include/orbbec_camera/constants.h
+1 -1
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@@ -14,7 +14,7 @@
#define OB_ROS_MAJOR_VERSION 1
#define OB_ROS_MINOR_VERSION 0
#define OB_ROS_PATCH_VERSION 0
#define OB_ROS_PATCH_VERSION 1
#ifndef STRINGIFY
#define STRINGIFY(arg) #arg
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+14 -17
View File
@@ -123,7 +123,9 @@ class OBCameraNode {
void setupPublishers();
void updateStreamCalibData();
void setupDefaultStreamCalibData();
void updateStreamCalibData(const OBCameraParam& param);
void publishStaticTF(const rclcpp::Time& t, const std::vector<float>& trans,
const tf2::Quaternion& q, const std::string& from, const std::string& to);
@@ -160,12 +162,10 @@ class OBCameraNode {
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index);
void getWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetInt32::Request>& request,
void getWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
void setWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<SetInt32 ::Request>& request,
void setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
void setAutoExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
@@ -184,16 +184,13 @@ class OBCameraNode {
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setFanModeCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<SetInt32::Request>& request,
void setFanModeCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response);
void getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetDeviceInfo::Request>& request,
void getDeviceInfoCallback(const std::shared_ptr<GetDeviceInfo::Request>& request,
std::shared_ptr<GetDeviceInfo::Response>& response);
void getSDKVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetString::Request>& request,
void getSDKVersion(const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response);
void publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set);
@@ -218,8 +215,8 @@ class OBCameraNode {
std::shared_ptr<Parameters> parameters_;
rclcpp::Logger logger_;
std::atomic_bool is_running_{false};
std::unique_ptr<ob::Pipeline> pipeline_;
std::shared_ptr<ob::Config> config_;
std::unique_ptr<ob::Pipeline> pipeline_ = nullptr;
std::shared_ptr<ob::Config> config_ = nullptr;
std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;
std::map<stream_index_pair, ob_camera_intrinsic> stream_intrinsics_;
std::map<stream_index_pair, sensor_msgs::msg::CameraInfo> camera_infos_;
@@ -230,8 +227,8 @@ class OBCameraNode {
std::map<stream_index_pair, std::string> frame_id_;
std::map<stream_index_pair, std::string> optical_frame_id_;
std::map<stream_index_pair, std::string> depth_aligned_frame_id_;
std::string base_frame_id_;
bool align_depth_;
std::string camera_link_frame_id_;
bool align_depth_ = false;
bool publish_rgb_point_cloud_;
std::string d2c_mode_; // sw, hw, none
std::map<stream_index_pair, std::string> qos_;
@@ -261,7 +258,7 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_gain_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_; // only rgb
rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_api_version_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_; // only rgb color
@@ -284,6 +281,6 @@ class OBCameraNode {
std::vector<geometry_msgs::msg::TransformStamped> static_tf_msgs_;
std::shared_ptr<std::thread> tf_thread_;
std::condition_variable tf_cv_;
double tf_publish_rate_;
double tf_publish_rate_ = 10.0;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_factory.h
+3
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@@ -43,6 +43,8 @@ class OBCameraNodeFactory : public rclcpp::Node {
void printDeviceInfo(const std::shared_ptr<ob::DeviceInfo>& device_info);
OBLogSeverity obLogSeverityFromString(const std::string& log_level);
private:
std::unique_ptr<ob::Context> ctx_;
rclcpp::Logger logger_;
@@ -56,6 +58,7 @@ class OBCameraNodeFactory : public rclcpp::Node {
double reconnect_timeout_ = 0.0;
double wait_for_device_timeout_ = 0.0;
std::shared_ptr<Parameters> parameters_;
std::string ob_log_level_;
};
} // namespace orbbec_camera
orbbec_camera/launch/orbbec_gdb.launch.py → orbbec_camera/launch/ob_camera.launch.py
+3 -4
View File
@@ -4,9 +4,9 @@ from ament_index_python import get_package_share_directory
def generate_launch_description():
params_config_path = (
ob_params_file = (
get_package_share_directory("orbbec_camera")
+ "/params/orbbec_camera_params.yaml"
+ "/params/ob_camera_params.yaml"
)
return LaunchDescription(
[
@@ -16,8 +16,7 @@ def generate_launch_description():
name="camera",
executable="orbbec_camera_node",
output="screen",
parameters=[params_config_path],
prefix=["xterm -e gdb -ex run --args"]
parameters=[ob_params_file],
),
]
)
orbbec_camera/launch/orbbec.launch.py → orbbec_camera/launch/ob_camera_gdb.launch.py
+2 -1
View File
@@ -6,7 +6,7 @@ from ament_index_python import get_package_share_directory
def generate_launch_description():
params_config_path = (
get_package_share_directory("orbbec_camera")
+ "/params/orbbec_camera_params.yaml"
+ "/params/ob_camera_params.yaml"
)
return LaunchDescription(
[
@@ -17,6 +17,7 @@ def generate_launch_description():
executable="orbbec_camera_node",
output="screen",
parameters=[params_config_path],
prefix=["xterm -e gdb -ex run --args"],
),
]
)
orbbec_camera/launch/ob_multi_camera.launch.py
+49
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@@ -0,0 +1,49 @@
from launch import LaunchDescription
import launch_ros.actions
from ament_index_python import get_package_share_directory
def generate_launch_description():
ob_params_file1 = (
get_package_share_directory("orbbec_camera")
+ "/params/multi_camera/ob_camera1_params.yaml"
)
ob_params_file2 = (
get_package_share_directory("orbbec_camera")
+ "/params/multi_camera/ob_camera2_params.yaml"
)
return LaunchDescription(
[
launch_ros.actions.Node(
package="orbbec_camera",
namespace="camera1",
name="camera1",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file1],
),
launch_ros.actions.Node(
package="orbbec_camera",
namespace="camera2",
name="camera2",
executable="orbbec_camera_node",
output="screen",
parameters=[ob_params_file2],
),
# dummy static transformation from camera1 to camera2
launch_ros.actions.Node(
package="tf2_ros",
executable="static_transform_publisher",
arguments=[
"0",
"0",
"0",
"0",
"0",
"0",
"camera1_link",
"camera2_link",
],
),
]
)
orbbec_camera/launch/tf.launch.py
View File
orbbec_camera/package.xml
+2 -2
View File
@@ -2,9 +2,9 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>orbbec_camera</name>
<version>0.0.1</version>
<version>1.0.1</version>
<description>Orbbec Camera package</description>
<maintainer email="weikang@todo.todo">weikang</maintainer>
<maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
<license>TODO: License declaration</license>
<buildtool_depend>ament_cmake</buildtool_depend>
orbbec_camera/params/multi_camera/ob_camera1_params.yaml
+29
View File
@@ -0,0 +1,29 @@
/camera1/camera1:
ros__parameters:
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
publish_rgb_point_cloud: true
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera1_link"
ob_log_level: "none"
orbbec_camera/params/multi_camera/ob_camera2_params.yaml
+29
View File
@@ -0,0 +1,29 @@
/camera2/camera2:
ros__parameters:
color_width: 640
color_height: 480
color_fps: 30
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
enable_color: true
ir_width: 640
ir_height: 480
ir_fps: 30
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: false
depth_width: 640
depth_height: 480
depth_fps: 25
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
tf_publish_rate: 10.0
publish_rgb_point_cloud: true
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera2_link"
ob_log_level: "none"
orbbec_camera/params/orbbec_camera_params.yaml → orbbec_camera/params/ob_camera_params.yaml
+7 -3
View File
@@ -19,7 +19,11 @@
depth_optical_frame_id: "depth_optical_frame"
enable_depth: true
publish_tf: true
align_depth: true
tf_publish_rate: 10.0
publish_rgb_point_cloud : true
d2c_mode : "hw"
publish_rgb_point_cloud: true
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera_link"
ob_log_level: "none"
orbbec_camera/rviz/pointcloud.rviz
+221 -190
View File
@@ -1,190 +1,221 @@
Panels:
- Class: rviz_common/Displays
Help Height: 70
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /Image1
- /Image1/Topic1
- /PointCloud21
- /Image2
Splitter Ratio: 0.5
Tree Height: 486
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /camera/color/image_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 10
Min Value: -10
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 3.5733110840282835e-43
Min Color: 0; 0; 0
Min Intensity: 2.802596928649634e-44
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.01
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/depth/color/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/color/image_raw
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: camera_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.6009803414344788
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -0.009601986967027187
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 2.695401906967163
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 984
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000002ba0000037efc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000269000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006500000001f4000000870000002800fffffffb0000000a0049006d00610067006501000002ac0000010f0000002800ffffff000000010000011e00000317fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000317000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d00650100000000000004500000000000000000000004760000037e00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1846
X: 72
Y: 27
Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /TF1
- /PointCloud21/Topic1
- /Axes1
Splitter Ratio: 0.5
Tree Height: 357
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: PointCloud2
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 10
Reference Frame: <Fixed Frame>
Value: true
- Class: rviz_default_plugins/TF
Enabled: false
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: false
Tree:
{}
Update Interval: 0
Value: false
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/depth/image_raw
Value: true
- Class: rviz_default_plugins/Image
Enabled: true
Max Value: 1
Median window: 5
Min Value: 0
Name: Image
Normalize Range: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /camera/color/image_raw
Value: true
- Alpha: 1
Autocompute Intensity Bounds: true
Autocompute Value Bounds:
Max Value: 2.177511215209961
Min Value: -1.9372501373291016
Value: true
Axis: Z
Channel Name: intensity
Class: rviz_default_plugins/PointCloud2
Color: 255; 255; 255
Color Transformer: RGB8
Decay Time: 0
Enabled: true
Invert Rainbow: false
Max Color: 255; 255; 255
Max Intensity: 0
Min Color: 0; 0; 0
Min Intensity: 0
Name: PointCloud2
Position Transformer: XYZ
Selectable: true
Size (Pixels): 3
Size (m): 0.009999999776482582
Style: Flat Squares
Topic:
Depth: 5
Durability Policy: Volatile
Filter size: 10
History Policy: Keep Last
Reliability Policy: Best Effort
Value: /camera/depth/points
Use Fixed Frame: true
Use rainbow: true
Value: true
- Class: rviz_default_plugins/Axes
Enabled: false
Length: 1
Name: Axes
Radius: 0.10000000149011612
Reference Frame: color_optical_frame
Value: false
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: color_optical_frame
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 25.43751335144043
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: -0.04824497178196907
Y: 0.8122125864028931
Z: 20.006338119506836
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: -1.519796371459961
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 4.65173864364624
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 1016
Hide Left Dock: false
Hide Right Dock: false
Image:
collapsed: false
QMainWindow State: 000000ff00000000fd0000000400000000000002180000035afc020000000afb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001f0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d0061006700650100000233000000970000002800fffffffb0000000a0049006d00610067006501000002d0000000c70000002800ffffff000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004050000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1848
X: 72
Y: 27
orbbec_camera/src/ob_camera_node.cpp
+40 -16
View File
@@ -158,10 +158,13 @@ void OBCameraNode::setupProfiles() {
void OBCameraNode::startPipeline() {
if (d2c_mode_ == "sw") {
config_->setAlignMode(ALIGN_D2C_SW_MODE);
align_depth_ = true;
} else if (d2c_mode_ == "hw") {
config_->setAlignMode(ALIGN_D2C_HW_MODE);
align_depth_ = true;
} else {
config_->setAlignMode(ALIGN_DISABLE);
align_depth_ = false;
}
pipeline_ = std::make_unique<ob::Pipeline>(device_);
pipeline_->start(config_, [this](std::shared_ptr<ob::FrameSet> frame_set) {
@@ -189,17 +192,17 @@ void OBCameraNode::getParameters() {
depth_aligned_frame_id_[stream_index] = stream_name_[OB_STREAM_COLOR] + "_optical_frame";
}
setAndGetNodeParameter(publish_tf_, "publish_tf", true);
setAndGetNodeParameter(align_depth_, "align_depth", true);
setAndGetNodeParameter(tf_publish_rate_, "tf_publish_rate", 10.0);
setAndGetNodeParameter(publish_rgb_point_cloud_, "publish_rgb_point_cloud", false);
setAndGetNodeParameter(d2c_mode_, "d2c_mode_", DEFAULT_D2C_MODE);
setAndGetNodeParameter(camera_link_frame_id_, "camera_link_frame_id", DEFAULT_BASE_FRAME_ID);
}
void OBCameraNode::setupTopics() {
getParameters();
setupDevices();
updateStreamCalibData();
setupProfiles();
setupDefaultStreamCalibData();
setupCameraCtrlServices();
setupPublishers();
publishStaticTransforms();
@@ -228,7 +231,7 @@ void OBCameraNode::publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set) {
return;
}
try {
if(publish_rgb_point_cloud_) {
if (publish_rgb_point_cloud_) {
if (frame_set->depthFrame() != nullptr && frame_set->colorFrame() != nullptr) {
publishColorPointCloud(frame_set);
}
@@ -268,7 +271,7 @@ void OBCameraNode::publishDepthPointCloud(std::shared_ptr<ob::FrameSet> frame_se
bool valid_pixel(points->z > 0);
if (valid_pixel) {
*iter_x = static_cast<float>(points->x / 1000.0);
*iter_y = static_cast<float>(points->y / 1000.0);
*iter_y = -static_cast<float>(points->y / 1000.0);
*iter_z = static_cast<float>(points->z / 1000.0);
++iter_x;
++iter_y;
@@ -316,7 +319,7 @@ void OBCameraNode::publishColorPointCloud(std::shared_ptr<ob::FrameSet> frame_se
bool valid_pixel(points->z > 0);
if (valid_pixel) {
*iter_x = static_cast<float>(points->x / 1000.0);
*iter_y = static_cast<float>(points->y / 1000.0);
*iter_y = -static_cast<float>(points->y / 1000.0);
*iter_z = static_cast<float>(points->z / 1000.0);
*iter_r = static_cast<uint8_t>(points->r);
*iter_g = static_cast<uint8_t>(points->g);
@@ -336,6 +339,7 @@ void OBCameraNode::publishColorPointCloud(std::shared_ptr<ob::FrameSet> frame_se
point_cloud_msg_.header.frame_id = optical_frame_id_[COLOR];
point_cloud_publisher_->publish(point_cloud_msg_);
}
void OBCameraNode::frameSetCallback(std::shared_ptr<ob::FrameSet> frame_set) {
auto color_frame = frame_set->colorFrame();
auto depth_frame = frame_set->depthFrame();
@@ -351,6 +355,7 @@ void OBCameraNode::frameSetCallback(std::shared_ptr<ob::FrameSet> frame_set) {
}
publishPointCloud(frame_set);
}
std::optional<OBCameraParam> OBCameraNode::findDefaultCameraParam() {
auto camera_params = device_->getCalibrationCameraParamList();
for (size_t i = 0; i < camera_params->count(); i++) {
@@ -428,11 +433,18 @@ std::optional<OBCameraParam> OBCameraNode::findCameraParam(uint32_t color_width,
return {};
}
void OBCameraNode::updateStreamCalibData() {
void OBCameraNode::setupDefaultStreamCalibData() {
auto param = findDefaultCameraParam();
CHECK(param.has_value());
camera_infos_[DEPTH] = convertToCameraInfo(param->depthIntrinsic, param->depthDistortion);
camera_infos_[COLOR] = convertToCameraInfo(param->rgbIntrinsic, param->rgbDistortion);
if (!param.has_value()) {
RCLCPP_WARN_STREAM(logger_, "Not Found default camera parameter");
return;
}
updateStreamCalibData(*param);
}
void OBCameraNode::updateStreamCalibData(const OBCameraParam& param) {
camera_infos_[DEPTH] = convertToCameraInfo(param.depthIntrinsic, param.depthDistortion);
camera_infos_[COLOR] = convertToCameraInfo(param.rgbIntrinsic, param.rgbDistortion);
camera_infos_[INFRA0] = camera_infos_[DEPTH];
}
@@ -468,12 +480,12 @@ void OBCameraNode::calcAndPublishStaticTransform() {
rclcpp::Time tf_timestamp = node_->now();
publishStaticTF(tf_timestamp, trans, Q, frame_id_[DEPTH], frame_id_[COLOR]);
publishStaticTF(tf_timestamp, trans, Q, "camera_link", frame_id_[COLOR]);
publishStaticTF(tf_timestamp, trans, Q, camera_link_frame_id_, frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[COLOR],
optical_frame_id_[COLOR]);
publishStaticTF(tf_timestamp, zero_trans, quaternion_optical, frame_id_[DEPTH],
optical_frame_id_[DEPTH]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, "camera_link", frame_id_[DEPTH]);
publishStaticTF(tf_timestamp, zero_trans, zero_rot, camera_link_frame_id_, frame_id_[DEPTH]);
extrinsics_publisher_->publish(obExtrinsicsToMsg(ex, "depth_to_color_extrinsics"));
}
@@ -485,6 +497,7 @@ void OBCameraNode::publishStaticTransforms() {
static_tf_broadcaster_->sendTransform(static_tf_msgs_);
}
}
void OBCameraNode::publishDynamicTransforms() {
RCLCPP_WARN(logger_, "Publishing dynamic camera transforms (/tf) at %g Hz", tf_publish_rate_);
std::mutex mu;
@@ -545,8 +558,9 @@ void OBCameraNode::publishColorFrame(std::shared_ptr<ob::ColorFrame> frame) {
auto& camera_info_publisher = camera_info_publishers_.at(stream);
auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width) {
if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height;
cam_info.width = width;
}
@@ -577,8 +591,9 @@ void OBCameraNode::publishDepthFrame(std::shared_ptr<ob::DepthFrame> frame) {
auto& camera_info_publisher = camera_info_publishers_.at(stream);
auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width) {
if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height;
cam_info.width = width;
}
@@ -592,7 +607,11 @@ void OBCameraNode::publishDepthFrame(std::shared_ptr<ob::DepthFrame> frame) {
img->height = height;
img->is_bigendian = false;
img->step = width * unit_step_size_[stream];
img->header.frame_id = optical_frame_id_[COLOR];
if (align_depth_) {
img->header.frame_id = optical_frame_id_[COLOR];
} else {
img->header.frame_id = optical_frame_id_[DEPTH];
}
img->header.stamp = timestamp;
image_publisher.publish(img);
}
@@ -609,8 +628,9 @@ void OBCameraNode::publishIRFrame(std::shared_ptr<ob::IRFrame> frame) {
auto& camera_info_publisher = camera_info_publishers_.at(stream);
auto& image_publisher = image_publishers_.at(stream);
auto& cam_info = camera_infos_.at(stream);
if (cam_info.width != width) {
if (cam_info.width != width || cam_info.height != height) {
RCLCPP_ERROR(logger_, "cam info error");
updateStreamCalibData(pipeline_->getCameraParam());
cam_info.height = height;
cam_info.width = width;
}
@@ -624,7 +644,11 @@ void OBCameraNode::publishIRFrame(std::shared_ptr<ob::IRFrame> frame) {
img->height = height;
img->is_bigendian = false;
img->step = width * unit_step_size_[stream];
img->header.frame_id = optical_frame_id_[COLOR];
if (align_depth_) {
img->header.frame_id = optical_frame_id_[COLOR];
} else {
img->header.frame_id = optical_frame_id_[DEPTH];
}
img->header.stamp = timestamp;
image_publisher.publish(img);
}
orbbec_camera/src/ob_camera_node_factory.cpp
+19 -1
View File
@@ -18,6 +18,7 @@ OBCameraNodeFactory::OBCameraNodeFactory(const rclcpp::NodeOptions &node_options
logger_(this->get_logger()) {
init();
}
OBCameraNodeFactory::OBCameraNodeFactory(const std::string &node_name, const std::string &ns,
const rclcpp::NodeOptions &node_options)
: Node(node_name, ns, node_options),
@@ -32,8 +33,10 @@ OBCameraNodeFactory::~OBCameraNodeFactory() {
query_thread_.join();
}
}
void OBCameraNodeFactory::init() {
ctx_->setLoggerSeverity(OB_LOG_SEVERITY_NONE);
ob_log_level_ = declare_parameter<std::string>("ob_log_level", "none");
ctx_->setLoggerSeverity(obLogSeverityFromString(ob_log_level_));
is_alive_.store(true);
parameters_ = std::make_shared<Parameters>(this);
serial_number_ = declare_parameter<std::string>("serial_number", "");
@@ -123,6 +126,21 @@ void OBCameraNodeFactory::printDeviceInfo(const std::shared_ptr<ob::DeviceInfo>
RCLCPP_INFO_STREAM(logger_, "hardware version " << device_info->hardwareVersion());
}
OBLogSeverity OBCameraNodeFactory::obLogSeverityFromString(const std::string &log_level) {
if (log_level == "debug") {
return OB_LOG_SEVERITY_DEBUG;
} else if (log_level == "info") {
return OB_LOG_SEVERITY_INFO;
} else if (log_level == "warn" || log_level == "warning") {
return OB_LOG_SEVERITY_WARN;
} else if (log_level == "fatal" || log_level == "error") {
return OB_LOG_SEVERITY_FATAL;
} else {
// Default None
return OB_LOG_SEVERITY_NONE;
}
}
void OBCameraNodeFactory::getDevice(const std::shared_ptr<ob::DeviceList> &list) {
if (device_) {
return;
orbbec_camera/src/ros_service.cpp
+37 -49
View File
@@ -25,55 +25,49 @@ void OBCameraNode::setupCameraCtrlServices() {
if (enable_[stream_index]) {
std::string service_name = "get_" + stream_name + "_exposure";
get_exposure_srv_[stream_index] = node_->create_service<GetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
service_name,
[this, stream_index = stream_index](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getExposureCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_exposure";
set_exposure_srv_[stream_index] = node_->create_service<SetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setExposureCallback(request, response, stream_index);
});
service_name = "get_" + stream_name + "_gain";
get_gain_srv_[stream_index] = node_->create_service<GetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
service_name,
[this, stream_index = stream_index](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getGainCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_gain";
set_gain_srv_[stream_index] = node_->create_service<SetInt32>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setGainCallback(request, response, stream_index);
});
if (stream_index.first == OB_STREAM_COLOR || stream_index.first == OB_STREAM_DEPTH) {
service_name = "set_" + stream_name + "_auto_exposure";
set_auto_exposure_srv_[stream_index] = node_->create_service<SetBool>(
service_name, [this, stream_index = stream_index](
const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoExposureCallback(request, response, stream_index);
});
}
}
}
set_fan_mode_srv_ = node_->create_service<SetInt32>(
"set_fan_mode", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
"set_fan_mode", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setFanModeCallback(request_header, request, response);
setFanModeCallback(request, response);
});
set_floor_enable_srv_ = node_->create_service<SetBool>(
"set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
@@ -95,30 +89,25 @@ void OBCameraNode::setupCameraCtrlServices() {
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
"get_white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetInt32::Request> request,
"get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getWhiteBalanceCallback(request_header, request, response);
getWhiteBalanceCallback(request, response);
});
set_white_balance_srv_ = node_->create_service<SetInt32>(
"set_white_balance", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetInt32::Request> request,
"set_white_balance", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setWhiteBalanceCallback(request_header, request, response);
setWhiteBalanceCallback(request, response);
});
get_device_srv_ = node_->create_service<GetDeviceInfo>(
"get_device_info", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetDeviceInfo::Request> request,
"get_device_info", [this](const std::shared_ptr<GetDeviceInfo::Request> request,
std::shared_ptr<GetDeviceInfo::Response> response) {
getDeviceInfoCallback(request_header, request, response);
});
get_api_version_srv_ = node_->create_service<GetString>(
"get_sdk_version", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) {
getSDKVersion(request_header, request, response);
getDeviceInfoCallback(request, response);
});
get_sdk_version_srv_ = node_->create_service<GetString>(
"get_sdk_version",
[this](const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) { getSDKVersion(request, response); });
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -157,6 +146,7 @@ void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>&
void OBCameraNode::getGainCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response,
const stream_index_pair& stream_index) {
(void)request;
auto stream = stream_index.first;
try {
switch (stream) {
@@ -218,9 +208,9 @@ void OBCameraNode::setGainCallback(const std::shared_ptr<SetInt32 ::Request>& re
}
}
void OBCameraNode::getWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetInt32::Request>& request,
void OBCameraNode::getWhiteBalanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;
try {
response->data = device_->getIntProperty(OB_PROP_COLOR_WHITE_BALANCE_INT);
response->success = true;
@@ -236,8 +226,7 @@ void OBCameraNode::getWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_
}
}
void OBCameraNode::setWhiteBalanceCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<SetInt32 ::Request>& request,
void OBCameraNode::setWhiteBalanceCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response) {
try {
device_->setIntProperty(OB_PROP_COLOR_WHITE_BALANCE_INT, request->data);
@@ -289,10 +278,8 @@ void OBCameraNode::setAutoExposureCallback(
}
}
void OBCameraNode::setFanModeCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<SetInt32::Request>& request,
void OBCameraNode::setFanModeCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response) {
(void)request_header;
(void)response;
bool fan_mode = request->data;
try {
@@ -379,6 +366,7 @@ void OBCameraNode::setLdpEnableCallback(
void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32 ::Response>& response,
const stream_index_pair& stream_index) {
(void)request;
auto stream = stream_index.first;
try {
switch (stream) {
@@ -408,9 +396,9 @@ void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>&
}
}
void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetDeviceInfo::Request>& request,
void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<GetDeviceInfo::Request>& request,
std::shared_ptr<GetDeviceInfo::Response>& response) {
(void)request;
try {
auto device_info = device_->getDeviceInfo();
response->info.name = device_info->name();
@@ -432,9 +420,9 @@ void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>
}
}
void OBCameraNode::getSDKVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<GetString::Request>& request,
void OBCameraNode::getSDKVersion(const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response) {
(void)request;
try {
auto device_info = device_->getDeviceInfo();
nlohmann::json data;
orbbec_camera_msgs/package.xml
+2 -2
View File
@@ -2,9 +2,9 @@
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>orbbec_camera_msgs</name>
<version>1.0.0</version>
<version>1.0.1</version>
<description>A package containing orbbec camera messages definitions.</description>
<maintainer email="mocun@orbbec.com">Jian Dong</maintainer>
<maintainer email="mocun@orbbec.com">Joe Dong</maintainer>
<license>all copyrights reserved</license>
<buildtool_depend>ament_cmake</buildtool_depend>