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2026-10-04 12:07:46 +08:00 · 2025-10-19 16:06:36 +08:00
parent 69fa710737
commit 5513cf2882
200 changed files with 2925 additions and 19 deletions
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+# All available services for camera control
+
+> **Note:** Services related to a specific stream (e.g., `/camera/set_color_*`) are only available if that stream is enabled in the launch file (e.g., `enable_color:=true`).
+
+### Stream Control
+
+#### Color Stream
+*   `/camera/toggle_color`
+    ```bash
+    ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/get_color_exposure` & `/camera/get_color_gain`
+    ```bash
+    ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
+    ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+*   `/camera/set_color_auto_exposure`
+    ```bash
+    ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/set_color_exposure` & `/camera/set_color_gain`
+    ```bash
+    ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
+    ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
+    ```
+*   `/camera/set_color_mirror`, `/camera/set_color_flip`, `/camera/set_color_rotation`
+    ```bash
+    ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/set_color_flip std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/set_color_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
+    ```
+*   `/camera/set_color_ae_roi`
+    ```bash
+    # data_param: [Left, Right, Top, Bottom]
+    ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
+    ```
+
+#### Depth Stream
+*   `/camera/toggle_depth`
+    ```bash
+    ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/get_depth_exposure` & `/camera/get_depth_gain`
+    ```bash
+    ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
+    ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+*   `/camera/set_depth_auto_exposure`
+    ```bash
+    ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/set_depth_exposure` & `/camera/set_depth_gain`
+    ```bash
+    ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
+    ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
+    ```
+*   `/camera/set_depth_mirror`, `/camera/set_depth_flip`, `/camera/set_depth_rotation`
+    ```bash
+    ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/set_depth_flip std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/set_depth_rotation orbbec_camera_msgs/srv/SetInt32 '{data: 180}'
+    ```
+*   `/camera/set_depth_ae_roi`
+    ```bash
+    # data_param: [Left, Right, Top, Bottom]
+    ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
+    ```
+
+#### IR Stream
+*   `/camera/toggle_ir`
+    
+    ```bash
+    ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/get_ir_exposure` & `/camera/get_ir_gain`
+    ```bash
+    ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
+    ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+*   `/camera/set_ir_auto_exposure`
+    ```bash
+    ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/set_ir_exposure` & `/camera/set_ir_gain`
+    ```bash
+    ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
+    ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
+    ```
+*   `/camera/switch_ir`
+    ```bash
+    ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
+    ```
+
+#### All Streams
+*   `/camera/get_streams_enable` & `/camera/set_streams_enable`
+    ```bash
+    ros2 service call /camera/get_streams_enable orbbec_camera_msgs/srv/GetBool '{}'
+    ros2 service call /camera/set_streams_enable std_srvs/srv/SetBool '{data: false}'
+    ```
+
+### Sensor & Emitter Control
+
+*   `/camera/set_auto_white_balance` & `/camera/get_auto_white_balance`
+    ```bash
+    ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+*   `/camera/set_white_balance` & `/camera/get_white_balance`
+    ```bash
+    ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
+    ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
+    ```
+*   `/camera/set_laser_enable`
+    ```bash
+    ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/set_ldp_enable` & `/camera/get_ldp_status`
+    ```bash
+    ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
+    ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
+    ```
+*   `/camera/set_fan_work_mode`
+    ```bash
+    ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
+    ```
+*   `/camera/set_floor_enable`
+    ```bash
+    ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
+    ```
+
+### Device Information & Management
+
+*   `/camera/get_device_info`
+    ```bash
+    ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
+    ```
+*   `/camera/get_sdk_version`
+    ```bash
+    ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
+    ```
+*   `/camera/reboot_device`
+    ```bash
+    ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
+    ```
+
+### Synchronization & Triggering
+
+*   `/camera/send_software_trigger`
+    ```bash
+    ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
+    ```*   `/camera/set_reset_timestamp`
+    ```bash
+    # Only available when time_domain param is set to device
+    ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
+    ```
+*   `/camera/set_sync_interleaverlaser`
+    ```bash
+    # Only available if interleave_ae_mode is 'laser' and interleave_frame_enable is true
+    ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
+    ```
+
+### Depth Filter Configuration
+
+*   `/camera/set_filter`
+    ```bash
+    # Set DecimationFilter
+    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'
+    # Set SpatialAdvancedFilter
+    ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'
+    ```
+
+### Data Capture & Calibration Management
+
+*   `/camera/save_images`
+    ```bash
+    ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
+    ```
+*   `/camera/save_point_cloud`
+    ```bash
+    ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
+    ```
+
+> **Note**: The following services are currently supported only on the 435Le module. Each service can store only one set of data or string at a time.
+
+*   `/camera/write_customer_data` & `/camera/read_customer_data`
+    ```bash
+    ros2 service call /camera/write_customer_data orbbec_camera_msgs/srv/SetString '{data: "string"}'
+    ros2 service call /camera/read_customer_data orbbec_camera_msgs/srv/GetString '{}'
+    ```
+*   `/camera/set_user_calib_params` & `/camera/get_user_calib_params`
+    ```bash
+    ros2 service call /camera/set_user_calib_params orbbec_camera_msgs/srv/SetUserCalibParams \
+    '{k: [614.9613647460938, 0.0, 634.91552734375,
+          0.0, 614.65771484375, 391.407470703125,
+          0.0, 0.0, 1.0],
+      d: [-0.03131488710641861,
+           0.032955970615148544,
+           9.096559369936585e-05,
+          -0.0003368517500348389,
+          -0.01115430984646082,
+           0.0, 0.0, 0.0],
+      rotation: [0.9999880790710449,  0.0003024190664291382, -0.004874417092651129,
+                -0.0002965621242765337, 0.9999992251396179,   0.001202247804030776,
+                 0.004874777048826218, -0.0012007878394797444, 0.9999874234199524],
+      translation: [-0.023897956848144532,
+                    -9.439220279455185e-05,
+                    -6.804073229432106e-06]}'
+    ros2 service call /camera/get_user_calib_params orbbec_camera_msgs/srv/GetUserCalibParams '{}'
+    ```