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feat: only apply provided launch settings

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ob-yalian
2026-05-27 09:47:40 +08:00
parent 25774f6824
commit 790e9f712f
2 changed files with 120 additions and 34 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5
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@@ -237,6 +237,10 @@ class OBCameraNode {
void loadConfigJson();
void captureInitialRosParameters();
bool isLaunchParamProvided(const std::string &param_name) const;
bool exportConfigJsonToFile(const std::string &file_path, std::string &message);
void exportConfigJsonIfRequested();
@@ -881,6 +885,7 @@ class OBCameraNode {
OBStreamType align_target_stream_ = OB_STREAM_COLOR;
bool retry_on_usb3_detection_failure_ = false;
bool config_json_loaded_ = false;
std::unordered_set<std::string> initial_ros_params_;
std::atomic_bool is_camera_node_initialized_{false};
int laser_energy_level_ = -1;
ob::PointCloudFilter depth_point_cloud_filter_;