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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/src/ob_camera_node.cpp
+49 -5
View File
@@ -922,8 +922,11 @@ void OBCameraNode::clean() noexcept {
}
void OBCameraNode::setupDevices() {
if (!depth_work_mode_.empty() &&
device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
if (is_playback_device_ && (!depth_work_mode_.empty() || !device_preset_.empty())) {
RCLCPP_INFO_STREAM(logger_, "Skip device preset selection during bag playback");
} else if (!depth_work_mode_.empty() &&
device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE,
OB_PERMISSION_READ_WRITE)) {
auto depthModeList = device_->getDepthWorkModeList();
for (uint32_t i = 0; i < depthModeList->getCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "depthModeList[" << i << "]: " << (*depthModeList)[i].name);
@@ -935,10 +938,48 @@ void OBCameraNode::setupDevices() {
RCLCPP_DEBUG_STREAM(logger_, "Available presets:");
auto preset_list = device_->getAvailablePresetList();
for (uint32_t i = 0; i < preset_list->getCount(); i++) {
RCLCPP_DEBUG_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i));
std::string version;
try {
const char *version_value = preset_list->getDepthWorkModeVersion(i);
version = version_value == nullptr ? "" : version_value;
} catch (...) {
// Older firmware can enumerate presets but may not report per-preset versions.
}
RCLCPP_DEBUG_STREAM(logger_, "Preset " << i << ": " << preset_list->getName(i)
<< ", depth work mode version: "
<< (version.empty() ? "not available" : version));
}
if (device_preset_version_.empty()) {
device_->loadPreset(device_preset_.c_str());
} else {
device_->loadPreset(device_preset_.c_str(), device_preset_version_.c_str());
}
std::string current_preset = device_preset_;
std::string current_version;
try {
const char *preset_name = device_->getCurrentPresetName();
current_preset = preset_name == nullptr ? device_preset_ : preset_name;
} catch (...) {
// Loading succeeded; failure to read back the name should not mark the load as failed.
}
try {
const char *version = device_->getCurrentPresetDepthWorkModeVersion();
current_version = version == nullptr ? "" : version;
} catch (...) {
// Older firmware does not report the current preset's depth work mode version.
}
RCLCPP_INFO_STREAM(logger_,
"Loaded device preset: "
<< current_preset << ", depth work mode version: "
<< (current_version.empty() ? "not available" : current_version));
if (!device_preset_version_.empty() && !current_version.empty() &&
current_version != device_preset_version_) {
RCLCPP_WARN_STREAM(logger_, "Requested device preset depth work mode version "
<< device_preset_version_ << ", but device reports "
<< current_version);
}
TRY_EXECUTE_BLOCK(device_->loadPreset(device_preset_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Loaded device preset: " << device_->getCurrentPresetName());
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to load device preset: " << orbbec_camera::formatObErrorWithStatus(e));
@@ -947,6 +988,8 @@ void OBCameraNode::setupDevices() {
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset");
}
} else if (!device_preset_version_.empty()) {
RCLCPP_WARN_STREAM(logger_, "Ignore device_preset_version because device_preset is empty");
}
if (!preset_resolution_config_.empty()) {
@@ -4691,6 +4734,7 @@ void OBCameraNode::getParameters() {
} else {
setAndGetNodeParameter<std::string>(device_preset_, "device_preset", "");
}
setAndGetNodeParameter<std::string>(device_preset_version_, "device_preset_version", "");
setAndGetNodeParameter<bool>(enable_decimation_filter_, "enable_decimation_filter", false);
setAndGetNodeParameter<bool>(enable_hdr_merge_, "enable_hdr_merge", false);
setAndGetNodeParameter<bool>(enable_sequence_id_filter_, "enable_sequence_id_filter", false);
orbbec_camera/src/ros_service.cpp
+15
View File
@@ -1745,6 +1745,21 @@ void OBCameraNode::getDeviceConfigCallback(const std::shared_ptr<GetDeviceConfig
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset");
}
try {
const char* version = device_->getCurrentPresetDepthWorkModeVersion();
if (version != nullptr) {
response->preset_depth_work_mode_version = version;
}
} catch (const ob::Error& e) {
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset depth work mode version: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception& e) {
RCLCPP_DEBUG_STREAM(logger_,
"Failed to get current preset depth work mode version: " << e.what());
} catch (...) {
RCLCPP_DEBUG_STREAM(logger_, "Failed to get current preset depth work mode version");
}
try {
if (device_->isColorPresetSupported()) {
const char* color_preset_name = device_->getCurrentColorPresetName();