From 47db6bce36f176cf0d3c987f4d68a91f73f14012 Mon Sep 17 00:00:00 2001 From: jj <957713278@qq.com> Date: Wed, 26 Mar 2025 15:36:50 +0800 Subject: [PATCH] Update save_rgbir qos profile --- orbbec_camera/CMakeLists.txt | 1 + orbbec_camera/config/camera_params.yaml | 2 +- orbbec_camera/config/camera_secondary_params.yaml | 2 +- orbbec_camera/tools/multi_save_rgbir.cpp | 2 +- 4 files changed, 4 insertions(+), 3 deletions(-) diff --git a/orbbec_camera/CMakeLists.txt b/orbbec_camera/CMakeLists.txt index ca125055..13b44ba5 100644 --- a/orbbec_camera/CMakeLists.txt +++ b/orbbec_camera/CMakeLists.txt @@ -240,6 +240,7 @@ rclcpp_components_register_node(multi_save_rgbir ) # Install rules install(TARGETS ${PROJECT_NAME} frame_latency + multi_save_rgbir ARCHIVE DESTINATION lib LIBRARY DESTINATION lib RUNTIME DESTINATION bin diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml index 0fb78692..3d06273e 100644 --- a/orbbec_camera/config/camera_params.yaml +++ b/orbbec_camera/config/camera_params.yaml @@ -34,7 +34,7 @@ depth_qos: "sensor_data" depth_camera_info_qos: "sensor_data" # ir exposure -enable_ir_auto_exposure: true +enable_ir_auto_exposure: false ir_exposure: 5000 ir_gain: 40 diff --git a/orbbec_camera/config/camera_secondary_params.yaml b/orbbec_camera/config/camera_secondary_params.yaml index 491250cd..894e625d 100644 --- a/orbbec_camera/config/camera_secondary_params.yaml +++ b/orbbec_camera/config/camera_secondary_params.yaml @@ -35,7 +35,7 @@ depth_qos: "sensor_data" depth_camera_info_qos: "sensor_data" # ir exposure -enable_ir_auto_exposure: true +enable_ir_auto_exposure: false ir_exposure: 5000 ir_gain: 40 diff --git a/orbbec_camera/tools/multi_save_rgbir.cpp b/orbbec_camera/tools/multi_save_rgbir.cpp index 54315c69..be7b94b4 100644 --- a/orbbec_camera/tools/multi_save_rgbir.cpp +++ b/orbbec_camera/tools/multi_save_rgbir.cpp @@ -154,7 +154,7 @@ class MultiCameraSubscriber : public rclcpp::Node { color_metadata_.exposure_buffs.resize(left_ir_topics_.size()); color_metadata_.gain_buffs.resize(left_ir_topics_.size()); callback_called_ = std::vector(left_ir_topics_.size(), false); - auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)); + auto custom_qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_sensor_data),rmw_qos_profile_sensor_data); RCLCPP_INFO_STREAM(rclcpp::get_logger("multi_camera_subscriber"), "camera_name_.size(): " << camera_name_.size()); for (size_t i = 0; i < camera_name_.size(); ++i) {