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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/include/orbbec_camera/ob_camera_node.h
+7 -7
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@@ -264,7 +264,7 @@ class OBCameraNode {
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setLdpEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header, void setLrmEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -285,10 +285,10 @@ class OBCameraNode {
std::shared_ptr<SetBool::Response>& response, std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index); const stream_index_pair& stream_index);
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request, void getLrmStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response); std::shared_ptr<GetBool::Response>& response);
void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request, void getLrmMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response); std::shared_ptr<GetInt32::Response>& response);
void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
@@ -444,12 +444,12 @@ class OBCameraNode {
set_auto_exposure_srv_; set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_; rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_lrm_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_; rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_lrm_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_; rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_; rclcpp::Service<GetInt32>::SharedPtr get_lrm_measure_distance_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_; rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
@@ -496,7 +496,7 @@ class OBCameraNode {
bool enable_depth_auto_exposure_priority_ = false; bool enable_depth_auto_exposure_priority_ = false;
bool enable_ir_auto_exposure_ = true; bool enable_ir_auto_exposure_ = true;
bool enable_ir_long_exposure_ = false; bool enable_ir_long_exposure_ = false;
bool enable_ldp_ = true; bool enable_lrm_ = true;
int color_exposure_ = -1; int color_exposure_ = -1;
int color_gain_ = -1; int color_gain_ = -1;
int color_white_balance_ = -1; int color_white_balance_ = -1;
orbbec_camera/launch/astra2.launch.py
+1 -1
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@@ -77,7 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'), DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto.launch.py
+1 -1
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@@ -73,7 +73,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto_mega.launch.py
+1 -1
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@@ -82,7 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/gemini2.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'), DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json # Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
orbbec_camera/launch/gemini2L.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'), DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'), DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
orbbec_camera/launch/gemini_330_series.launch.py
+1 -1
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@@ -128,7 +128,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'), DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1 -1
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@@ -114,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'), DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'), DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'), DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'), DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'), DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'), DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'), DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/src/ob_camera_node.cpp
+3 -3
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@@ -214,8 +214,8 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode); RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
} }
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF")); RCLCPP_INFO_STREAM(logger_, "Setting LRM to " << (enable_lrm_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_); TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_lrm_);
} }
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_); RCLCPP_INFO_STREAM(logger_, "Setting G300 laser control to " << enable_laser_);
@@ -1308,7 +1308,7 @@ void OBCameraNode::getParameters() {
enable_colored_point_cloud_ = false; enable_colored_point_cloud_ = false;
depth_registration_ = 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_max_diff_, "soft_filter_max_diff", -1);
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1); setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003); setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
orbbec_camera/src/ros_service.cpp
+15 -15
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@@ -100,18 +100,18 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response); setLaserEnableCallback(request_header, request, response);
}); });
set_ldp_enable_srv_ = node_->create_service<SetBool>( set_lrm_enable_srv_ = node_->create_service<SetBool>(
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header, "set_lrm_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request, const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) { 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_lrm_status_srv_ = node_->create_service<GetBool>(
"get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header, "get_lrm_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request, const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) { std::shared_ptr<GetBool::Response> response) {
(void)request_header; (void)request_header;
getLdpStatusCallback(request, response); getLrmStatusCallback(request, response);
}); });
get_white_balance_srv_ = node_->create_service<GetInt32>( get_white_balance_srv_ = node_->create_service<GetInt32>(
@@ -164,10 +164,10 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setIRLongExposureCallback(request, response); setIRLongExposureCallback(request, response);
}); });
get_ldp_measure_distance_srv_ = node_->create_service<GetInt32>( get_lrm_measure_distance_srv_ = node_->create_service<GetInt32>(
"get_ldp_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request, "get_lrm_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) { std::shared_ptr<GetInt32::Response> response) {
getLdpMeasureDistanceCallback(request, response); getLrmMeasureDistanceCallback(request, response);
}); });
set_reset_timestamp_srv_ = node_->create_service<SetBool>( set_reset_timestamp_srv_ = node_->create_service<SetBool>(
"set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request, "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<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) { std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header; (void)request_header;
(void)response; (void)response;
bool ldp_enable = request->data; bool lrm_enable = request->data;
try { try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) { if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT); 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); device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) { } else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL); 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); device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
} }
response->success = true; 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) { std::shared_ptr<GetBool::Response>& response) {
(void)request; (void)request;
try { 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) { std::shared_ptr<GetInt32::Response>& response) {
(void)request; (void)request;
try { try {