feat: enhance camera configuration for Gemini 305 with left and right color stream support

orbbec_camera/config/gemini305.yaml

@@ -15,16 +15,6 @@ tf_publish_rate: 0.0
 ir_info_url: ""
 color_info_url: ""
 
-# network
-enumerate_net_device: true
-net_device_ip: ""
-net_device_port: 0
-force_ip_enable: false
-force_ip_mac: ""
-force_ip_address: 192.168.1.10
-force_ip_subnet_mask: 255.255.255.0
-force_ip_gateway: 192.168.1.1
-
 # device_misc
 device_access_mode: Default
 exposure_range_mode: default
@@ -57,108 +47,53 @@ interleave_skip_enable: false
 interleave_skip_index: 1
 show_fps_enable: false
 
-# point_cloud
-point_cloud_qos: default
-enable_point_cloud: false
-point_cloud_decimation_filter_factor: 1
-enable_colored_point_cloud: false
-cloud_frame_id: ""
-ordered_pc: false
-
 # color
+enable_color: false
 color_width: 0
 color_height: 0
 color_fps: 0
 color_format: ANY
-enable_color: true
-enable_left_color: true
-enable_right_color: true
 color_qos: default
 color_camera_info_qos: default
-enable_color_auto_exposure_priority: false
 color_rotation: -1
 color_flip: false
 color_mirror: false
-color_ae_roi_left: -1
-color_ae_roi_right: -1
-color_ae_roi_top: -1
-color_ae_roi_bottom: -1
-color_exposure: -1
-color_gain: -1
-enable_color_auto_white_balance: true
-color_white_balance: -1
-enable_color_auto_exposure: true
-color_ae_max_exposure: -1
-color_brightness: -1
-color_sharpness: -1
-color_gamma: -1
-color_saturation: -1
-color_contrast: -1
-color_hue: -1
-color_backlight_compensation: -1
-color_powerline_freq: ""
-enable_color_decimation_filter: false
-color_decimation_filter_scale: -1
-color_denoising_level: -1
-enable_color_undistortion: false
-
 
 # left_color
-color_width: 0
+enable_left_color: true
-color_height: 0
+left_color_width: 0
-color_fps: 0
+left_color_height: 0
-color_format: ANY
+left_color_fps: 0
-enable_color: true
+left_color_format: ANY
-color_qos: default
+left_color_qos: default
-color_camera_info_qos: default
+left_color_camera_info_qos: default
-enable_color_auto_exposure_priority: false
+left_color_rotation: -1
-color_rotation: -1
+left_color_flip: false
-color_flip: false
+left_color_mirror: false
-color_mirror: false
-color_ae_roi_left: -1
-color_ae_roi_right: -1
-color_ae_roi_top: -1
-color_ae_roi_bottom: -1
-color_exposure: -1
-color_gain: -1
-enable_color_auto_white_balance: true
-color_white_balance: -1
-enable_color_auto_exposure: true
-color_ae_max_exposure: -1
-color_brightness: -1
-color_sharpness: -1
-color_gamma: -1
-color_saturation: -1
-color_contrast: -1
-color_hue: -1
-color_backlight_compensation: -1
-color_powerline_freq: ""
-enable_color_decimation_filter: false
-color_decimation_filter_scale: -1
-color_denoising_level: -1
-enable_color_undistortion: false
 
 # right_color
-color_width: 0
+enable_right_color: true
-color_height: 0
+right_color_width: 0
-color_fps: 0
+right_color_height: 0
-color_format: ANY
+right_color_fps: 0
-enable_color: true
+right_color_format: ANY
-color_qos: default
+right_color_qos: default
-color_camera_info_qos: default
+right_color_camera_info_qos: default
+right_color_rotation: -1
+right_color_flip: false
+right_color_mirror: false
+
+# color_common
 enable_color_auto_exposure_priority: false
-color_rotation: -1
+enable_color_auto_white_balance: true
-color_flip: false
+enable_color_auto_exposure: true
-color_mirror: false
 color_ae_roi_left: -1
 color_ae_roi_right: -1
 color_ae_roi_top: -1
 color_ae_roi_bottom: -1
 color_exposure: -1
 color_gain: -1
-enable_color_auto_white_balance: true
 color_white_balance: -1
-enable_color_auto_exposure: true
 color_ae_max_exposure: -1
 color_brightness: -1
 color_sharpness: -1
@@ -173,14 +108,12 @@ color_decimation_filter_scale: -1
 color_denoising_level: -1
 enable_color_undistortion: false
 
-
-
 # depth
+enable_depth: false
 depth_width: 0
 depth_height: 0
 depth_fps: 0
 depth_format: ANY
-enable_depth: false
 depth_qos: default
 depth_camera_info_qos: default
 enable_depth_auto_exposure_priority: false
@@ -228,16 +161,25 @@ enable_spatial_moderate_filter: false
 spatial_moderate_filter_diff_threshold: -1
 spatial_moderate_filter_magnitude: -1
 spatial_moderate_filter_radius: -1
+
+# point_cloud
+point_cloud_qos: default
+enable_point_cloud: false
+point_cloud_decimation_filter_factor: 1
+enable_colored_point_cloud: false
+cloud_frame_id: ""
+ordered_pc: false
+
 # ldp
 enable_ldp: true
 ldp_power_level: -1
 
 # left_ir
+enable_left_ir: false
 left_ir_width: 0
 left_ir_height: 0
 left_ir_fps: 0
 left_ir_format: ANY
-enable_left_ir: false
 left_ir_qos: default
 left_ir_camera_info_qos: default
 left_ir_rotation: -1
@@ -247,11 +189,11 @@ enable_left_ir_sequence_id_filter: false
 left_ir_sequence_id_filter_id: -1
 
 # right_ir
+enable_right_ir: false
 right_ir_width: 0
 right_ir_height: 0
 right_ir_fps: 0
 right_ir_format: ANY
-enable_right_ir: false
 right_ir_qos: default
 right_ir_camera_info_qos: default
 right_ir_rotation: -1

orbbec_camera/launch/gemini305.launch.py

@@ -8,17 +8,37 @@ from launch_ros.descriptions import ComposableNode
 
 
 def load_yaml(file_path):
-    with open(file_path, 'r') as f:
+    try:
-        return yaml.safe_load(f)
+        with open(file_path, 'r') as f:
+            return yaml.safe_load(f)
+    except Exception as e:
+        print(f"[orbbec_camera] Failed to load yaml '{file_path}': {e}")
+        return {}
 
 
 def merge_params(default_params, yaml_params):
+    if not isinstance(yaml_params, dict):
+        print(f"[orbbec_camera] YAML parameters should be a dictionary.")
+        return default_params
     for key, value in yaml_params.items():
-        if key in default_params:
+        default_params[key] = value
-            default_params[key] = value
     return default_params
 
 
+def resolve_config_file_path(config_file_path: str) -> str:
+    if not config_file_path:
+        return config_file_path
+    if os.path.isabs(config_file_path) and os.path.exists(config_file_path):
+        return config_file_path
+    if os.path.exists(config_file_path):
+        return config_file_path
+    config_dir = os.path.normpath(os.path.join(os.path.dirname(__file__), '..', 'config'))
+    candidate = os.path.join(config_dir, config_file_path)
+    if os.path.exists(candidate):
+        return candidate
+    return config_file_path
+
+
 def convert_value(value):
     if isinstance(value, str):
         try:
@@ -38,7 +58,9 @@ def convert_value(value):
 
 def load_parameters(context, args):
     default_params = {arg.name: LaunchConfiguration(arg.name).perform(context) for arg in args}
-    config_file_path = LaunchConfiguration('config_file_path').perform(context)
+    config_file_path = resolve_config_file_path(
+        LaunchConfiguration('config_file_path').perform(context)
+    )
     if config_file_path:
         yaml_params = load_yaml(config_file_path)
         default_params = merge_params(default_params, yaml_params)

orbbec_camera/src/ob_camera_node.cpp

@@ -510,6 +510,10 @@ void OBCameraNode::setupDevices() {
         mirrorPropertyID = OB_PROP_IR_MIRROR_BOOL;
       } else if (stream_index == INFRA2) {
         mirrorPropertyID = OB_PROP_IR_RIGHT_MIRROR_BOOL;
+      } else if (stream_index == COLOR_LEFT) {
+        mirrorPropertyID = OB_PROP_COLOR_LEFT_MIRROR_BOOL;
+      } else if (stream_index == COLOR_RIGHT) {
+        mirrorPropertyID = OB_PROP_COLOR_RIGHT_MIRROR_BOOL;
       }
       if (device_->isPropertySupported(mirrorPropertyID, OB_PERMISSION_WRITE)) {
         RCLCPP_INFO_STREAM(logger_, "Setting " << stream_name_[stream_index] << " mirror to "
@@ -527,6 +531,10 @@ void OBCameraNode::setupDevices() {
         flipPropertyID = OB_PROP_IR_FLIP_BOOL;
       } else if (stream_index == INFRA2) {
         flipPropertyID = OB_PROP_IR_RIGHT_FLIP_BOOL;
+      } else if (stream_index == COLOR_LEFT) {
+        flipPropertyID = OB_PROP_COLOR_LEFT_FLIP_BOOL;
+      } else if (stream_index == COLOR_RIGHT) {
+        flipPropertyID = OB_PROP_COLOR_RIGHT_FLIP_BOOL;
       }
       if (device_->isPropertySupported(flipPropertyID, OB_PERMISSION_WRITE)) {
         RCLCPP_INFO_STREAM(logger_, "Setting " << stream_name_[stream_index] << " flip to "
@@ -544,6 +552,10 @@ void OBCameraNode::setupDevices() {
         rotationPropertyID = OB_PROP_IR_ROTATE_INT;
       } else if (stream_index == INFRA2) {
         rotationPropertyID = OB_PROP_IR_RIGHT_ROTATE_INT;
+      } else if (stream_index == COLOR_LEFT) {
+        rotationPropertyID = OB_PROP_COLOR_LEFT_ROTATE_INT;
+      } else if (stream_index == COLOR_RIGHT) {
+        rotationPropertyID = OB_PROP_COLOR_RIGHT_ROTATE_INT;
       }
       if (rotation_stream_[stream_index] != -1 &&
           device_->isPropertySupported(rotationPropertyID, OB_PERMISSION_WRITE)) {