From 3e8689e9851e71c28c2bfecf912b96914d32c41d Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Thu, 19 Dec 2024 09:28:40 +0800 Subject: [PATCH] [launch]Restore parameter default values --- orbbec_camera/config/astra2.yaml | 2 ++ orbbec_camera/config/femto.yaml | 4 +++- orbbec_camera/config/femtomega.yaml | 4 +++- orbbec_camera/config/gemini2.yaml | 4 +++- orbbec_camera/config/gemini2L.yaml | 4 +++- orbbec_camera/config/gemini330Lg_series.yaml | 2 ++ orbbec_camera/config/gemini330_series.yaml | 16 +++++++++------- orbbec_camera/launch/gemini_330_series.launch.py | 8 ++++---- 8 files changed, 29 insertions(+), 15 deletions(-) diff --git a/orbbec_camera/config/astra2.yaml b/orbbec_camera/config/astra2.yaml index dcdc0a6c..006e3bfc 100644 --- a/orbbec_camera/config/astra2.yaml +++ b/orbbec_camera/config/astra2.yaml @@ -75,6 +75,8 @@ orbbec_ros: point_cloud: # If true, the point cloud will be enabled enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled diff --git a/orbbec_camera/config/femto.yaml b/orbbec_camera/config/femto.yaml index c5403ba9..c611bb92 100644 --- a/orbbec_camera/config/femto.yaml +++ b/orbbec_camera/config/femto.yaml @@ -25,7 +25,7 @@ orbbec_ros: enable_ldp: true network_device: - # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. + # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. # When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true. enumerate_net_device: false # Port number of the network device. If 0, a random port will be used @@ -93,6 +93,8 @@ orbbec_ros: point_cloud: # If true, the point cloud will be enabled enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled diff --git a/orbbec_camera/config/femtomega.yaml b/orbbec_camera/config/femtomega.yaml index 28bb67d3..da67dc1d 100644 --- a/orbbec_camera/config/femtomega.yaml +++ b/orbbec_camera/config/femtomega.yaml @@ -31,7 +31,7 @@ orbbec_ros: connection_delay: 100 network_device: - # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. + # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. # When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true. enumerate_net_device: false # Port number of the network device. If 0, a random port will be used @@ -98,6 +98,8 @@ orbbec_ros: point_cloud: # If true, the point cloud will be enabled enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled diff --git a/orbbec_camera/config/gemini2.yaml b/orbbec_camera/config/gemini2.yaml index b8d62621..e273c2df 100644 --- a/orbbec_camera/config/gemini2.yaml +++ b/orbbec_camera/config/gemini2.yaml @@ -25,7 +25,7 @@ orbbec_ros: enable_ldp: true network_device: - # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. + # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. # When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true. enumerate_net_device: false # Port number of the network device. If 0, a random port will be used @@ -114,6 +114,8 @@ orbbec_ros: point_cloud: # If true, the depth point cloud will be enabled enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled diff --git a/orbbec_camera/config/gemini2L.yaml b/orbbec_camera/config/gemini2L.yaml index a5beb4bc..f4e1a1b9 100644 --- a/orbbec_camera/config/gemini2L.yaml +++ b/orbbec_camera/config/gemini2L.yaml @@ -21,7 +21,7 @@ orbbec_ros: connection_delay: 100 network_device: - # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. + # Whether to enable the function of enumerating network devices. True means enabled and false means disabled. This function is only supported by Femto Mega and Gemini 2 XL devices. # When accessing these devices through the network, the IP address of the device needs to be preconfigured. The enable switch needs to be set to true. enumerate_net_device: false # Port number of the network device. If 0, a random port will be used @@ -113,6 +113,8 @@ orbbec_ros: point_cloud: # If true, the depth point cloud will be enabled enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If false, the hardware time will not be used diff --git a/orbbec_camera/config/gemini330Lg_series.yaml b/orbbec_camera/config/gemini330Lg_series.yaml index 8831cef0..f743091e 100644 --- a/orbbec_camera/config/gemini330Lg_series.yaml +++ b/orbbec_camera/config/gemini330Lg_series.yaml @@ -126,6 +126,8 @@ orbbec_ros: point_cloud: # enable point cloud. {fase:disable, true:enable} enable_point_cloud: false + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled diff --git a/orbbec_camera/config/gemini330_series.yaml b/orbbec_camera/config/gemini330_series.yaml index fe004237..a8af1cc6 100644 --- a/orbbec_camera/config/gemini330_series.yaml +++ b/orbbec_camera/config/gemini330_series.yaml @@ -40,7 +40,7 @@ orbbec_ros: # Fps of the color image. If 0, the default FPS will be used color_fps: 0 # default Format of the color image. - color_format: "MJPG" + color_format: "ANY" # enable auto exposure for the color image enable_color_auto_exposure: true # enable auto white balance for the color image @@ -58,7 +58,7 @@ orbbec_ros: # Fps of the depth image. If 0, the default FPS will be used depth_fps: 0 # default Format of the depth image. - depth_format: "Y16" + depth_format: "ANY" # If false, the depth scale will not be enabled enable_depth_scale: true @@ -100,11 +100,11 @@ orbbec_ros: leftir: # the left IR image will not be enabled - enable_left_ir: true + enable_left_ir: false rightir: # the right IR image will not be enabled - enable_right_ir: true + enable_right_ir: false imu: # If true, the IMU accelerometer data will be enabled @@ -126,17 +126,19 @@ orbbec_ros: point_cloud: # enable point cloud. {fase:disable, true:enable} - enable_point_cloud: false + enable_point_cloud: true + # enable color point cloud. {fase:disable, true:enable} + enable_colored_point_cloud: false advanced: # If true, the extrinsics publish will be enabled enable_publish_extrinsic: false # If true, the frame synchronization will be enabled enable_frame_sync: true + # global, device, system + time_domain: "device" # Publish D2C superimposed image (only for testing). enable_d2c_viewer: false - # If false, the hardware time will not be used, true:devicetime, false:systemtime - use_hardware_time: true # the host time will be synchronized with the device time enable_sync_host_time: true diff --git a/orbbec_camera/launch/gemini_330_series.launch.py b/orbbec_camera/launch/gemini_330_series.launch.py index 9aa0810c..c86c1b44 100644 --- a/orbbec_camera/launch/gemini_330_series.launch.py +++ b/orbbec_camera/launch/gemini_330_series.launch.py @@ -59,7 +59,7 @@ def generate_launch_description(): DeclareLaunchArgument('uvc_backend', default_value='libuvc'),#libuvc or v4l2 DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('enable_point_cloud', default_value='true'), - DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'), + DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'), DeclareLaunchArgument('cloud_frame_id', default_value=''), DeclareLaunchArgument('connection_delay', default_value='10'), DeclareLaunchArgument('color_width', default_value='0'), @@ -87,14 +87,14 @@ def generate_launch_description(): DeclareLaunchArgument('left_ir_height', default_value='0'), DeclareLaunchArgument('left_ir_fps', default_value='0'), DeclareLaunchArgument('left_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_left_ir', default_value='true'), + DeclareLaunchArgument('enable_left_ir', default_value='false'), DeclareLaunchArgument('left_ir_qos', default_value='default'), DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'), DeclareLaunchArgument('right_ir_width', default_value='0'), DeclareLaunchArgument('right_ir_height', default_value='0'), DeclareLaunchArgument('right_ir_fps', default_value='0'), DeclareLaunchArgument('right_ir_format', default_value='ANY'), - DeclareLaunchArgument('enable_right_ir', default_value='true'), + DeclareLaunchArgument('enable_right_ir', default_value='false'), DeclareLaunchArgument('right_ir_qos', default_value='default'), DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'), DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'), @@ -117,7 +117,7 @@ def generate_launch_description(): DeclareLaunchArgument('color_info_url', default_value=''), DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), - DeclareLaunchArgument('enable_d2c_viewer', default_value='true'), + DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_hardware_d2d', default_value='true'), DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),