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fix: remove deprecated launch arguments for network device and laser control in gemini305.launch.py

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ob-yalian
2026-01-14 16:32:23 +08:00
parent 6f48a24222
commit 4b880723a2
3 changed files with 20 additions and 64 deletions
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orbbec_camera/launch/gemini305.launch.py
+1 -33
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@@ -211,12 +211,6 @@ def generate_launch_description():
DeclareLaunchArgument('ir_info_url', default_value=''),
DeclareLaunchArgument('color_info_url', default_value=''),
# Network device settings: default enumerate_net_device is set to true, which will automatically enumerate network devices
# If you do not want to automatically enumerate network devices,
# you can set enumerate_net_device to false, net_device_ip to the device's IP address, and net_device_port to the default value of 8090
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument('net_device_port', default_value='0'),
DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
DeclareLaunchArgument('log_level', default_value='none'),
@@ -224,8 +218,6 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('disparity_to_depth_mode', default_value='HW'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
@@ -235,7 +227,6 @@ def generate_launch_description():
DeclareLaunchArgument('software_trigger_enabled', default_value='true'),
DeclareLaunchArgument('frames_per_trigger', default_value='2'),
DeclareLaunchArgument('software_trigger_period', default_value='33'), # ms
DeclareLaunchArgument('enable_ptp_config', default_value='false'),#Only for Gemini 335Le
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
@@ -276,51 +267,35 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='SW'),
DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'), # Default, High Accuracy, Close Range High Accuracy, Factory Calib, Dual Color Streams, Custom
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
DeclareLaunchArgument('disparity_offset_config', default_value='false'),
DeclareLaunchArgument('offset_index0', default_value='-1'),
DeclareLaunchArgument('offset_index1', default_value='-1'),
DeclareLaunchArgument('frame_aggregate_mode', default_value='ANY'), # full_frame, color_frame, ANY or disable
DeclareLaunchArgument('interleave_ae_mode', default_value='laser'), # 'hdr' or 'laser'
DeclareLaunchArgument('interleave_ae_mode', default_value='hdr'),
DeclareLaunchArgument('interleave_frame_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_enable', default_value='false'),
DeclareLaunchArgument('interleave_skip_index', default_value='1'), # 0:skip pattern ir 1: skip flood ir
DeclareLaunchArgument('hdr_index1_laser_control', default_value='1'),#interleave_hdr_param
DeclareLaunchArgument('hdr_index1_depth_exposure', default_value='1'),
DeclareLaunchArgument('hdr_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index1_ir_brightness', default_value='30'),
DeclareLaunchArgument('hdr_index1_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('hdr_index0_laser_control', default_value='1'),
DeclareLaunchArgument('hdr_index0_depth_exposure', default_value='7500'),
DeclareLaunchArgument('hdr_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('hdr_index0_ir_brightness', default_value='90'),
DeclareLaunchArgument('hdr_index0_ir_ae_max_exposure', default_value='30458'),
DeclareLaunchArgument('laser_index1_laser_control', default_value='0'),#interleave_laser_param
DeclareLaunchArgument('laser_index1_depth_exposure', default_value='3000'),
DeclareLaunchArgument('laser_index1_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index1_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index1_ir_ae_max_exposure', default_value='17000'),
DeclareLaunchArgument('laser_index0_laser_control', default_value='1'),
DeclareLaunchArgument('laser_index0_depth_exposure', default_value='3000'),
DeclareLaunchArgument('laser_index0_depth_gain', default_value='16'),
DeclareLaunchArgument('laser_index0_ir_brightness', default_value='60'),
DeclareLaunchArgument('laser_index0_ir_ae_max_exposure', default_value='30000'),
DeclareLaunchArgument('show_fps_enable', default_value='false'),
#color image transport plugins
@@ -332,13 +307,6 @@ def generate_launch_description():
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
# Force IP parameters
DeclareLaunchArgument("force_ip_enable", default_value="false"), # Whether to enable Force IP function
DeclareLaunchArgument("force_ip_mac", default_value=""), # If multiple cameras are connected, specify target MAC (e.g. "54:14:FD:06:07:DA")
DeclareLaunchArgument("force_ip_address", default_value="192.168.1.10"), # Static IP address to assign
DeclareLaunchArgument("force_ip_subnet_mask", default_value="255.255.255.0"), # Subnet mask used for static IP
DeclareLaunchArgument("force_ip_gateway", default_value="192.168.1.1"), # Gateway address used for static IP
DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End
]