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feat: support versioned preset launch configuration

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slz
2026-09-03 16:36:24 +08:00
parent 27e0c7dc97
commit 5fcd5eed85
15 changed files with 110 additions and 14 deletions
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orbbec_camera/launch/gemini_330_series.launch.py
+2 -1
View File
@@ -49,7 +49,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'enhanced_depth_model_path', 'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode', 'device_preset_version'}
result = {}
for key, value in default_params.items():
@@ -287,6 +287,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('color_preset', default_value='Default'),# color preset name reported by the device
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+2 -1
View File
@@ -49,7 +49,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'enhanced_depth_model_path', 'depth_colorizer_mode'}
'enhanced_depth_model_path', 'depth_colorizer_mode', 'device_preset_version'}
result = {}
for key, value in default_params.items():
@@ -282,6 +282,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('color_preset', default_value='Default'),# color preset name reported by the device
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+2 -1
View File
@@ -43,7 +43,7 @@ def load_parameters(context, args):
yaml_params = load_yaml(config_file_path)
default_params = merge_params(default_params, yaml_params)
skip_convert = {'config_file_path', 'usb_port', 'serial_number', 'bag_record_filename', 'bag_filename',
'depth_colorizer_mode'}
'depth_colorizer_mode', 'device_preset_version'}
return {
key: (value if key in skip_convert else convert_value(value))
for key, value in default_params.items()
@@ -171,6 +171,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'),
DeclareLaunchArgument('device_preset_version', default_value=''),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'),