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Change the service name of set_software_trigger_enabled to send_software_trigger

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This commit is contained in:
jj
2025-06-27 14:37:03 +08:00
parent 0b09209c29
commit 794e05b997
3 changed files with 13 additions and 12 deletions
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docs/all_available_service_for_camera_control.md
+2 -2
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@@ -327,8 +327,8 @@ ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetIn
ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}' ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
``` ```
* `/camera/set_software_trigger_enabled` * `/camera/send_software_trigger`
``` ```
ros2 service call /camera/set_software_trigger_enabled std_srvs/srv/SetBool '{data: true}' ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
``` ```
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -4
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@@ -313,9 +313,8 @@ class OBCameraNode {
std::shared_ptr<SetFilter ::Response>& response); std::shared_ptr<SetFilter ::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, void setSYNCHostimeCallback(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 setSoftwareTriggerEnabledCallback( void sendSoftwareTriggerCallback(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);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg); bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
@@ -496,7 +495,7 @@ class OBCameraNode {
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_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_software_trigger_enabled_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_;
rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_; rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_;
bool enable_sync_output_accel_gyro_ = false; bool enable_sync_output_accel_gyro_ = false;
orbbec_camera/src/ros_service.cpp
+8 -6
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@@ -206,10 +206,10 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response); setSYNCHostimeCallback(request, response);
}); });
set_software_trigger_enabled_srv_ = node_->create_service<SetBool>( send_software_trigger_srv_ = node_->create_service<SetBool>(
"set_software_trigger_enabled", [this](const std::shared_ptr<SetBool::Request> request, "send_software_trigger", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setSoftwareTriggerEnabledCallback(request, response); sendSoftwareTriggerCallback(request, response);
}); });
set_write_customerdata_srv_ = node_->create_service<SetString>( set_write_customerdata_srv_ = node_->create_service<SetString>(
"set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request, "set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request,
@@ -1063,11 +1063,13 @@ void OBCameraNode::setSYNCHostimeCallback(
} }
} }
void OBCameraNode::setSoftwareTriggerEnabledCallback( void OBCameraNode::sendSoftwareTriggerCallback(
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) {
try { try {
software_trigger_enabled_ = request->data; if (request->data) {
device_->triggerCapture();
}
response->success = true; response->success = true;
} catch (const ob::Error& e) { } catch (const ob::Error& e) {
response->message = e.getMessage(); response->message = e.getMessage();