feat: add log_file_name parameter for configurable logging in launch files

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -167,6 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -167,6 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py

@@ -117,6 +117,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -167,6 +167,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_synced_verify.launch.py

@@ -123,6 +123,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('enable_ldp', default_value='true'),

orbbec_camera/launch/astra.launch.py

@@ -61,6 +61,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('enable_ldp', default_value='true'),

orbbec_camera/launch/dabai_a.launch.py

@@ -150,6 +150,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/dabai_al.launch.py

@@ -150,6 +150,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_soft_filter', default_value='true'),
         DeclareLaunchArgument('enable_ldp', default_value='true'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('enable_soft_filter', default_value='true'),

orbbec_camera/launch/gemini345.launch.py

@@ -149,6 +149,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -150,6 +150,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -180,6 +180,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -187,6 +187,7 @@ def generate_launch_description():
         DeclareLaunchArgument('net_device_port', default_value='0'),
         DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -111,6 +111,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ir_info_url', default_value=''),
         DeclareLaunchArgument('color_info_url', default_value=''),
         DeclareLaunchArgument('log_level', default_value='none'),
+        DeclareLaunchArgument('log_file_name', default_value=''),
         DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
         DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
         DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),

orbbec_camera/launch/multi_camera.launch.py

@@ -21,6 +21,7 @@ def generate_launch_description():
             'sync_mode': 'standalone',
             'enable_left_ir': 'true',
             'enable_right_ir': 'true',
+            'log_level': 'none',
             'log_file_name': 'camera_01.log',
         }.items()
     )
@@ -36,6 +37,7 @@ def generate_launch_description():
             'sync_mode': 'standalone',
             'enable_left_ir': 'true',
             'enable_right_ir': 'true',
+            'log_level': 'none',
             'log_file_name': 'camera_02.log',
         }.items()
     )

orbbec_camera/launch/multi_camera_synced.launch.py

@@ -25,6 +25,8 @@ def generate_launch_description():
             "sync_mode": "primary",
             "config_file_path": config_file_path,
             "trigger_out_enabled": "true"
+            "log_level": "none",
+            "log_file_name": "camera_01.log",
         }.items(),
     )
 
@@ -39,6 +41,8 @@ def generate_launch_description():
             "sync_mode": "secondary_synced",
             "config_file_path": secondary_config_file_path,
             "trigger_out_enabled": "false"
+            "log_level": "none",
+            "log_file_name": "camera_02.log",
         }.items(),
     )
 

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -180,25 +180,15 @@ void OBCameraNodeDriver::init() {
   signal(SIGINT, signalHandler);
   signal(SIGTERM, signalHandler);
   ob::Context::setExtensionsDirectory(extension_path_.c_str());
-  if (config_path_.empty()) {
+  g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
-    ctx_ = std::make_unique<ob::Context>();
-  } else {
-    ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
-  }
-  // Force IP
-  force_ip_enable_ = declare_parameter<bool>("force_ip_enable", false);
-  force_ip_mac_ = declare_parameter<std::string>("force_ip_mac", "");
-  force_ip_address_ = declare_parameter<std::string>("force_ip_address", "192.168.1.10");
-  force_ip_subnet_mask_ = declare_parameter<std::string>("force_ip_subnet_mask", "255.255.255.0");
-  force_ip_gateway_ = declare_parameter<std::string>("force_ip_gateway", "192.168.1.1");
-  applyForceIpConfig();
   auto log_level_str = declare_parameter<std::string>("log_level", "none");
   auto log_level = obLogSeverityFromString(log_level_str);
   auto log_file_name = declare_parameter<std::string>("log_file_name", "");
-
+  std::string pwd_dir = std::getenv("PWD") ? std::getenv("PWD") : std::getenv("HOME");
+  std::string log_path = pwd_dir + "/Log/" + g_camera_name;
   // Set logger to console
   ob::Context::setLoggerToConsole(log_level);
-
+  ob::Context::setLoggerToFile(log_level, log_path.c_str());
   // Set custom log file name if specified
   if (!log_file_name.empty()) {
     try {
@@ -208,17 +198,26 @@ void OBCameraNodeDriver::init() {
       RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << e.getMessage());
     }
   }
-
+  // Force IP
+  force_ip_enable_ = declare_parameter<bool>("force_ip_enable", false);
+  force_ip_mac_ = declare_parameter<std::string>("force_ip_mac", "");
+  force_ip_address_ = declare_parameter<std::string>("force_ip_address", "192.168.1.10");
+  force_ip_subnet_mask_ = declare_parameter<std::string>("force_ip_subnet_mask", "255.255.255.0");
+  force_ip_gateway_ = declare_parameter<std::string>("force_ip_gateway", "192.168.1.1");
+  applyForceIpConfig();
+  if (config_path_.empty()) {
+    ctx_ = std::make_unique<ob::Context>();
+  } else {
+    ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
+  }
   connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
   enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
   double time_sync_period = declare_parameter<double>("time_sync_period", 60.0);
   time_sync_period_ = std::chrono::milliseconds((int)(time_sync_period * 1000));
   upgrade_firmware_ = declare_parameter<std::string>("upgrade_firmware", "");
-  g_camera_name = declare_parameter<std::string>("camera_name", g_camera_name);
   g_time_domain = declare_parameter<std::string>("time_domain", g_time_domain);
   preset_firmware_path_ =
       declare_parameter<std::string>("preset_firmware_path", preset_firmware_path_);
-  ob::Context::setLoggerToConsole(log_level);
   orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666);
   if (orb_device_lock_shm_fd_ < 0) {
     RCLCPP_ERROR_STREAM(logger_, "Failed to open shared memory " << ORB_DEFAULT_LOCK_NAME);