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Rename LDP to LRM

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This commit is contained in:
jj
2025-02-25 11:32:50 +08:00
parent 07b06937f6
commit 68aaef55af
11 changed files with 33 additions and 33 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -3
View File
@@ -214,8 +214,8 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
RCLCPP_INFO_STREAM(logger_, "Setting LRM to " << (enable_lrm_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_lrm_);
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
@@ -1308,7 +1308,7 @@ void OBCameraNode::getParameters() {
enable_colored_point_cloud_ = false;
depth_registration_ = false;
}
setAndGetNodeParameter<bool>(enable_ldp_, "enable_ldp", true);
setAndGetNodeParameter<bool>(enable_lrm_, "enable_lrm", true);
setAndGetNodeParameter<int>(soft_filter_max_diff_, "soft_filter_max_diff", -1);
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
orbbec_camera/src/ros_service.cpp
+15 -15
View File
@@ -100,18 +100,18 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response);
});
set_ldp_enable_srv_ = node_->create_service<SetBool>(
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
set_lrm_enable_srv_ = node_->create_service<SetBool>(
"set_lrm_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLdpEnableCallback(request_header, request, response);
setLrmEnableCallback(request_header, request, response);
});
get_ldp_status_srv_ = node_->create_service<GetBool>(
"get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
get_lrm_status_srv_ = node_->create_service<GetBool>(
"get_lrm_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLdpStatusCallback(request, response);
getLrmStatusCallback(request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
@@ -164,10 +164,10 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setIRLongExposureCallback(request, response);
});
get_ldp_measure_distance_srv_ = node_->create_service<GetInt32>(
"get_ldp_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request,
get_lrm_measure_distance_srv_ = node_->create_service<GetInt32>(
"get_lrm_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getLdpMeasureDistanceCallback(request, response);
getLrmMeasureDistanceCallback(request, response);
});
set_reset_timestamp_srv_ = node_->create_service<SetBool>(
"set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request,
@@ -494,21 +494,21 @@ void OBCameraNode::setLaserEnableCallback(
}
}
void OBCameraNode::setLdpEnableCallback(
void OBCameraNode::setLrmEnableCallback(
const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
bool ldp_enable = request->data;
bool lrm_enable = request->data;
try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
}
response->success = true;
@@ -642,7 +642,7 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
}
}
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
void OBCameraNode::getLrmStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {
@@ -660,7 +660,7 @@ void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>&
}
}
void OBCameraNode::getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
void OBCameraNode::getLrmMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response) {
(void)request;
try {