[launch]Restore parameter default values

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

orbbec_camera/config/femto.yaml

@@ -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

orbbec_camera/config/femtomega.yaml

@@ -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

orbbec_camera/config/gemini2.yaml

@@ -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

orbbec_camera/config/gemini2L.yaml

@@ -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

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

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
 

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'),