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Fix dabai dcw2 and dabai dw2 device enumeration failure with old firmware

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This commit is contained in:
jj
2025-04-22 17:51:40 +08:00
parent 661c1ca3e2
commit 6cad280103
3 changed files with 5 additions and 4 deletions
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orbbec_camera/launch/dabai_dcw2.launch.py
+1 -1
View File
@@ -81,7 +81,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('industry_mode', default_value='default'),
DeclareLaunchArgument('industry_mode', default_value=''),
]
# Node configuration
orbbec_camera/launch/dabai_dw2.launch.py
+1 -1
View File
@@ -58,7 +58,7 @@ def generate_launch_description():
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
DeclareLaunchArgument('industry_mode', default_value='default'),
DeclareLaunchArgument('industry_mode', default_value=''),
]
# Node configuration
orbbec_camera/src/ob_camera_node.cpp
+3 -2
View File
@@ -177,7 +177,8 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
}
if (device_->isPropertySupported(OB_PROP_DEPTH_INDUSTRY_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (!industry_mode_.empty() &&
device_->isPropertySupported(OB_PROP_DEPTH_INDUSTRY_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (industry_mode_ == "default") {
OBDepthIndustryMode mode = OB_INDUSTRY_DEFAULT;
device_->setIntProperty(OB_PROP_DEPTH_INDUSTRY_MODE_INT, (int32_t)mode);
@@ -1208,7 +1209,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(min_depth_limit_, "min_depth_limit", 0);
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<std::string>(industry_mode_, "industry_mode", "default");
setAndGetNodeParameter<std::string>(industry_mode_, "industry_mode", "");
setAndGetNodeParameter<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
setAndGetNodeParameter<int>(color_ae_roi_left_, "color_ae_roi_left", -1);
setAndGetNodeParameter<int>(color_ae_roi_top_, "color_ae_roi_top", -1);