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fixed dabai A can not work

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This commit is contained in:
Joe Dong
2025-05-14 11:48:08 +08:00
parent 91c348833a
commit 43feb10a3c
2 changed files with 25 additions and 9 deletions
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orbbec_camera/launch/dabai_a.launch.py
+9 -9
View File
@@ -101,14 +101,14 @@ 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='false'),
DeclareLaunchArgument('enable_left_ir', default_value='true'),
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='false'),
DeclareLaunchArgument('enable_right_ir', default_value='true'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
@@ -116,15 +116,15 @@ def generate_launch_description():
DeclareLaunchArgument('ir_gain', default_value='-1'),
DeclareLaunchArgument('ir_ae_max_exposure', default_value='-1'),
DeclareLaunchArgument('ir_brightness', default_value='-1'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='false'),
DeclareLaunchArgument('enable_accel', default_value='false'),
DeclareLaunchArgument('enable_sync_output_accel_gyro', default_value='true'),
DeclareLaunchArgument('enable_accel', default_value='true'),
DeclareLaunchArgument('enable_accel_data_correction', default_value='true'),
DeclareLaunchArgument('accel_rate', default_value='200hz'),
DeclareLaunchArgument('accel_range', default_value='4g'),
DeclareLaunchArgument('enable_gyro', default_value='false'),
DeclareLaunchArgument('accel_range', default_value='3g'),
DeclareLaunchArgument('enable_gyro', default_value='true'),
DeclareLaunchArgument('enable_gyro_data_correction', default_value='true'),
DeclareLaunchArgument('gyro_rate', default_value='200hz'),
DeclareLaunchArgument('gyro_range', default_value='1000dps'),
DeclareLaunchArgument('gyro_range', default_value='250dps'),
DeclareLaunchArgument('liner_accel_cov', default_value='0.01'),
DeclareLaunchArgument('angular_vel_cov', default_value='0.01'),
DeclareLaunchArgument('publish_tf', default_value='true'),
@@ -179,12 +179,12 @@ def generate_launch_description():
DeclareLaunchArgument('hdr_merge_gain_1', default_value='-1'),
DeclareLaunchArgument('hdr_merge_exposure_2', default_value='-1'),
DeclareLaunchArgument('hdr_merge_gain_2', default_value='-1'),
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'),
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset', default_value='Standard'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
orbbec_camera/src/utils.cpp
+16
View File
@@ -674,6 +674,14 @@ OBAccelFullScaleRange fullAccelScaleRangeFromString(std::string &full_scale_rang
return OB_ACCEL_FS_8g;
} else if (full_scale_range == "16g") {
return OB_ACCEL_FS_16g;
} else if (full_scale_range == "3g") {
return OB_ACCEL_FS_3g;
} else if (full_scale_range == "6g") {
return OB_ACCEL_FS_6g;
} else if (full_scale_range == "12g") {
return OB_ACCEL_FS_12g;
} else if (full_scale_range == "24g") {
return OB_ACCEL_FS_24g;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"),
"Unknown OB_ACCEL_FULL_SCALE_RANGE: " << full_scale_range);
@@ -691,6 +699,14 @@ std::string fullAccelScaleRangeToString(const OBAccelFullScaleRange &full_scale_
return "8g";
case OB_ACCEL_FS_16g:
return "16g";
case OB_ACCEL_FS_3g:
return "3g";
case OB_ACCEL_FS_6g:
return "6g";
case OB_ACCEL_FS_12g:
return "12g";
case OB_ACCEL_FS_24g:
return "24g";
default:
return "2g";
}