Update OrbbecSDK to version 2.5.2

orbbec_camera/SDK/include/libobsensor/h/Context.h

@@ -63,6 +63,16 @@ OB_EXPORT ob_device_list *ob_query_device_list(ob_context *context, ob_error **e
  */
 OB_EXPORT void ob_enable_net_device_enumeration(ob_context *context, bool enable, ob_error **error);
 
+/**
+ * @brief Changes the IP configuration of a network device.
+ *
+ * @param[in] deviceUid The unique device ID (MAC address). obtained via @ref ob_device_info_get_uid.
+ * @param[in] config The new IP configuration to apply.
+ * @param[out] error Pointer to an error object that will be populated if an error occurs.
+ * @return bool true if the configuration command was processed successfully, false otherwise.
+ */
+OB_EXPORT bool ob_change_net_device_ip_config(const char *deviceUid, ob_net_ip_config config, ob_error **error);
+
 /**
  * @brief Create a network device object
  *

orbbec_camera/SDK/include/libobsensor/h/Device.h

@@ -422,6 +422,24 @@ OB_EXPORT const char *ob_device_info_get_connection_type(const ob_device_info *i
  */
 OB_EXPORT const char *ob_device_info_get_ip_address(const ob_device_info *info, ob_error **error);
 
+/**
+ * @brief Get the network device subnet mask
+ *
+ * @param[in] info Device information
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* The subnet mask, such as "255.255.255.0"
+ */
+OB_EXPORT const char *ob_device_info_get_subnet_mask(const ob_device_info *info, ob_error **error);
+
+/**
+ * @brief Get the network device gateway address
+ *
+ * @param[in] info Device information
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* The gateway address, such as "192.168.1.1"
+ */
+OB_EXPORT const char *ob_device_info_get_gateway(const ob_device_info *info, ob_error **error);
+
 /**
  * @brief Get the hardware version number
  *
@@ -570,17 +588,77 @@ OB_EXPORT const char *ob_device_list_get_device_connection_type(const ob_device_
 OB_EXPORT const char *ob_device_list_get_device_ip_address(const ob_device_list *list, uint32_t index, ob_error **error);
 
 /**
- * @brief Get device local mac address
+ * @brief Get device subnet mask
  *
- * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
+ * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+ *
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* returns the device subnet mask, such as "255.255.255.0"
+ */
+OB_EXPORT const char *ob_device_list_get_device_subnet_mask(const ob_device_list *list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Get device gateway
+ *
+ * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+ *
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* returns the device gateway, such as "192.168.1.1"
+ */
+OB_EXPORT const char *ob_device_list_get_device_gateway(const ob_device_list *list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Get the MAC address of the host network interface corresponding to the network device.
+ *
+ * @attention Only valid for network devices. Returns "0:0:0:0:0:0" for non-network devices.
  *
  * @param list Device list object
  * @param index Device index
  * @param error Pointer to an error object that will be set if an error occurs.
- * @return const char* returns the device mac address
+ * @return const char* The MAC address of the host network interface associated with the device.
  */
 OB_EXPORT const char *ob_device_list_get_device_local_mac(const ob_device_list *list, uint32_t index, ob_error **error);
 
+/**
+ * @brief Get the IP address of the host network interface corresponding to the network device.
+ *
+ * @attention Only valid for network devices. Returns "0.0.0.0" for non-network devices.
+ *
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* The IP address of the host network interface associated with the device.
+ */
+OB_EXPORT const char *ob_device_list_get_device_local_ip(const ob_device_list *list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Get the subnet length of the host network interface corresponding to the network device.
+ *
+ * @attention Only valid for network devices. Returns 0 for non-network devices.
+ *
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const uint8_t The subnet length (0~32) of the host network interface associated with the device.
+ */
+OB_EXPORT uint8_t ob_device_list_get_device_local_subnet_length(const ob_device_list *list, uint32_t index, ob_error **error);
+
+/**
+ * @brief Get the gateway of the host network interface corresponding to the network device.
+ *
+ * @attention Only valid for network devices. Returns "0.0.0.0" for non-network devices.
+ *
+ * @param[in] list Device list object
+ * @param[in] index Device index
+ * @param[out] error Pointer to an error object that will be set if an error occurs.
+ * @return const char* The gateway of the host network interface associated with the device.
+ */
+OB_EXPORT const char *ob_device_list_get_device_local_gateway(const ob_device_list *list, uint32_t index, ob_error **error);
+
 /**
  * @brief Create a device.
  *
@@ -688,4 +766,3 @@ OB_EXPORT void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_
 #ifdef __cplusplus
 }
 #endif
-

orbbec_camera/SDK/include/libobsensor/hpp/Context.hpp

@@ -97,6 +97,20 @@ public:
         Error::handle(&error);
     }
 
+    /**
+     * @brief Changes the IP configuration of a network device.
+     *
+     * @param[in] deviceUid The device unique ID, which is the network device MAC address. It can be obtained through the @ref DeviceList::uid() function.
+     * @param[in] config The new IP configuration.
+     * @return bool true if the configuration command was processed successfully, false otherwise.
+     */
+    bool changeNetDeviceIpConfig(const char *deviceUid, const OBNetIpConfig &config) {
+        ob_error *error = nullptr;
+        auto      res   = ob_change_net_device_ip_config(deviceUid, config, &error);
+        Error::handle(&error);
+        return res;
+    }
+
     /**
      * @brief Creates a network device with the specified IP address and port.
      *

orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp

@@ -1028,6 +1028,30 @@ public:
         return type;
     }
 
+    /**
+     * @brief Get the subnet mask of the device
+     *
+     * @return const char* the subnet mask of the device, such as "255.255.255.0"
+     */
+    const char *getDeviceSubnetMask() const {
+        ob_error   *error      = nullptr;
+        const char *subnetMask = ob_device_info_get_subnet_mask(impl_, &error);
+        Error::handle(&error);
+        return subnetMask;
+    }
+
+    /**
+     * @brief Get the gateway address of the device
+     *
+     * @return const char* the gateway address of the device, such as "192.168.1.1"
+     */
+    const char *getDevicegateway() const {
+        ob_error   *error      = nullptr;
+        const char *subnetMask = ob_device_info_get_gateway(impl_, &error);
+        Error::handle(&error);
+        return subnetMask;
+    }
+
 public:
     // The following interfaces are deprecated and are retained here for compatibility purposes.
     const char *name() const {
@@ -1203,20 +1227,95 @@ public:
     }
 
     /**
-     * @brief get the local mac address of the device at the specified index
+     * @brief get the subnet mask of the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+     *
+     * @param index the index of the device
+     * @return const char* the subnet mask of the device
+     */
+    const char *getSubnetMask(uint32_t index) const {
+        ob_error *error      = nullptr;
+        auto      subnetMask = ob_device_list_get_device_subnet_mask(impl_, index, &error);
+        Error::handle(&error);
+        return subnetMask;
+    }
+
+    /**
+     * @brief get the gateway of the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+     *
+     * @param index the index of the device
+     * @return const char* the gateway of the device
+     */
+    const char *getGateway(uint32_t index) const {
+        ob_error *error   = nullptr;
+        auto      gateway = ob_device_list_get_device_gateway(impl_, index, &error);
+        Error::handle(&error);
+        return gateway;
+    }
+
+    /**
+     * @brief Get the MAC address of the host network interface corresponding to the device at the specified index
      *
      * @attention Only valid for network devices, otherwise it will return "0:0:0:0:0:0".
      *
      * @param index the index of the device
-     * @return const char* the local mac address of the device
+     * @return const char* The MAC address of the host network interface associated with the device.
      */
     const char *getLocalMacAddress(uint32_t index) const {
         ob_error *error = nullptr;
-        auto      mac    = ob_device_list_get_device_local_mac(impl_, index, &error);
+        auto      mac   = ob_device_list_get_device_local_mac(impl_, index, &error);
         Error::handle(&error);
         return mac;
     }
 
+    /**
+     * @brief Get the IP address of the host network interface corresponding to the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+     *
+     * @param index The index of the device
+     * @return const char* The IP address of the host network interface associated with the device.
+     */
+    const char *getLocalIP(uint32_t index) const {
+        ob_error *error = nullptr;
+        auto      ip    = ob_device_list_get_device_local_ip(impl_, index, &error);
+        Error::handle(&error);
+        return ip;
+    }
+
+    /**
+     * @brief Get the subnet length of the host network interface corresponding to the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return 0.
+     *
+     * @param index The index of the device
+     * @return uint8_t The subnet length (0~32) of the host network interface associated with the device.
+     */
+    uint8_t getLocalSubnetLength(uint32_t index) const {
+        ob_error *error      = nullptr;
+        auto      subnetMask = ob_device_list_get_device_local_subnet_length(impl_, index, &error);
+        Error::handle(&error);
+        return subnetMask;
+    }
+
+    /**
+     * @brief Get the gateway of the host network interface corresponding to the device at the specified index
+     *
+     * @attention Only valid for network devices, otherwise it will return "0.0.0.0".
+     *
+     * @param index The index of the device
+     * @return const char* The gateway of the host network interface associated with the device.
+     */
+    const char *getLocalGateway(uint32_t index) const {
+        ob_error *error   = nullptr;
+        auto      gateway = ob_device_list_get_device_local_gateway(impl_, index, &error);
+        Error::handle(&error);
+        return gateway;
+    }
+
     /**
      * @brief Get the device object at the specified index
      *

orbbec_camera/SDK/lib/arm64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.5.1
+libOrbbecSDK.so.2.5.2

orbbec_camera/SDK/lib/x64/OrbbecSDKConfig-release.cmake

@@ -8,12 +8,12 @@ set(CMAKE_IMPORT_FILE_VERSION 1)
 # Import target "ob::OrbbecSDK" for configuration "Release"
 set_property(TARGET ob::OrbbecSDK APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
 set_target_properties(ob::OrbbecSDK PROPERTIES
-  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1"
+  IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.2"
   IMPORTED_SONAME_RELEASE "libOrbbecSDK.so.2"
   )
 
 list(APPEND _cmake_import_check_targets ob::OrbbecSDK )
-list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.1" )
+list(APPEND _cmake_import_check_files_for_ob::OrbbecSDK "${_IMPORT_PREFIX}/lib/libOrbbecSDK.so.2.5.2" )
 
 # Commands beyond this point should not need to know the version.
 set(CMAKE_IMPORT_FILE_VERSION)

orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.2

@@ -1 +1 @@
-libOrbbecSDK.so.2.5.1
+libOrbbecSDK.so.2.5.2

orbbec_camera/config/OrbbecSDKConfig_v2.0.xml

@@ -66,7 +66,7 @@
     <!-- Default configuration of data streams for different types of devices -->
     <Device>
         <!-- Whether to enumerate network devices, bool type, true-enable, false-disable (default) -->
-        <EnumerateNetDevice>false</EnumerateNetDevice>
+        <EnumerateNetDevice>true</EnumerateNetDevice>
 
         <!-- Global UVC Backend select on Linux; optional values: Auto, V4L2, LibUVC; The default
         setting is "Auto," which will automatically select the appropriate option based on the
@@ -129,7 +129,7 @@
                 <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
                 <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
             </Misc>
-
+            
             <Depth>
                 <!-- The width of the default resolution, int type -->
                 <Width>640</Width>
@@ -1200,7 +1200,7 @@
                 <Format>Y8</Format>
             </RightIR>
         </Gemini335Lg>
-
+		
 		<!-- Gemini335Le config -->
         <Gemini335Le>
             <!-- Whether to enable heartbeat by default -->
@@ -1217,12 +1217,12 @@
                 <!-- Global timestamp fitter queue size, default value: 100, minimum value: 20 -->
                 <GlobalTimestampFitterQueueSize>100</GlobalTimestampFitterQueueSize>
             </Misc>
-
+			
 			<DepthPostProcessing>
                 <HardwareNoiseRemoveFilter>false</HardwareNoiseRemoveFilter>
                 <SoftwareNoiseRemoveFilter>true</SoftwareNoiseRemoveFilter>
             </DepthPostProcessing>
-
+			
 			<!-- Whether to enable heartbeat by default -->
             <DefaultHeartBeat>0</DefaultHeartBeat>
             <!-- Whether to enable firmware upgrade foolproof by default, only internal version
@@ -2123,7 +2123,7 @@
                 <Format>Y8</Format>
             </RightIR>
         </CAM-5530>
-
+        
                <!--  Gemini435Le config -->
         <Gemini435Le>
             <!-- The default Linux UVC backend. If the LinuxUVCBackend is set to "Auto," this item

orbbec_camera/include/orbbec_camera/constants.h

@@ -23,7 +23,7 @@
 
 #define OB_ROS_MAJOR_VERSION 2
 #define OB_ROS_MINOR_VERSION 5
-#define OB_ROS_PATCH_VERSION 1
+#define OB_ROS_PATCH_VERSION 2
 
 #ifndef STRINGIFY
 #define STRINGIFY(arg) #arg

orbbec_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>orbbec_camera</name>
-  <version>2.5.1</version>
+  <version>2.5.2</version>
   <description>Orbbec Camera package</description>
   <maintainer email="[email protected]">Joe Dong</maintainer>
   <license>Apache-2.0</license>