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[launch]Restore parameter default values

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jj
2024-12-19 09:28:40 +08:00
parent 9bcd4bdf05
commit 3e8689e985
8 changed files with 29 additions and 15 deletions
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orbbec_camera/config/astra2.yaml
+2
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@@ -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
+2
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@@ -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
+2
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@@ -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
+2
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@@ -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
+2
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@@ -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
+2
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@@ -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
+9 -7
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@@ -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
+4 -4
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@@ -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'),