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Merge remote-tracking branch 'origin/feat/bag-record-playback' into merge/sdk_2.9.0

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This commit is contained in:
ob-yalian
2026-06-20 16:24:42 +08:00
parent 0384847615 f8f37a34fd
commit 7c88f3c581
26 changed files with 317 additions and 19 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9 -1
View File
@@ -166,7 +166,8 @@ typedef struct {
class OBCameraNode {
public:
OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
std::shared_ptr<Parameters> parameters, bool use_intra_process = false);
std::shared_ptr<Parameters> parameters, bool use_intra_process = false,
bool is_playback_device = false);
template <class T>
void setAndGetNodeParameter(
@@ -193,6 +194,8 @@ class OBCameraNode {
void startIMU();
void restartPlaybackStreams();
int openSocSyncPwmTrigger(uint16_t fps);
int closeSocSyncPwmTrigger();
void startGmslTrigger();
@@ -949,6 +952,11 @@ class OBCameraNode {
bool hw_d2c_color_undistortion_configured_ = false;
bool has_first_color_frame_ = false;
bool use_intra_process_ = false;
// True when device_ is an ob::PlaybackDevice. Real-device-only hardware
// tuning (heartbeat, USB3 retry, laser, sync config, etc.) is skipped in
// setupDevices() for playback devices since those SDK components aren't
// registered for a recorded .bag file.
bool is_playback_device_ = false;
std::string cloud_frame_id_;
std::mutex depth_filter_mutex_;
std::vector<std::shared_ptr<ob::Filter>> depth_filter_list_;
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+20
View File
@@ -31,6 +31,8 @@
#include <std_srvs/srv/empty.hpp>
#include <backward_ros/backward.hpp>
#include "libobsensor/hpp/Device.hpp"
#include "libobsensor/hpp/RecordPlayback.hpp"
#include "orbbec_camera_msgs/srv/set_bag_recording.hpp"
namespace orbbec_camera {
@@ -57,6 +59,10 @@ class OBCameraNodeDriver : public rclcpp::Node {
void initializeDevice(const std::shared_ptr<ob::Device>& device);
void initializeBagPlayback();
void exportBagPresetJson(const std::string& bag_path);
void startDevice(const std::shared_ptr<ob::DeviceList>& list);
void connectNetDevice(const std::string& net_device_ip, int net_device_port);
@@ -77,6 +83,10 @@ class OBCameraNodeDriver : public rclcpp::Node {
void rebootDeviceCallback(const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response);
void setBagRecordingCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Response> response);
void presetUpdateCallback(bool firstCall, OBFwUpdateState state, const char* message,
uint8_t percent);
void updatePresetFirmware(std::string path);
@@ -136,6 +146,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string timestamp_clock_type_str_;
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
rclcpp::Service<orbbec_camera_msgs::srv::SetBagRecording>::SharedPtr set_bag_recording_srv_ =
nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
std::string extension_path_;
static backward::SignalHandling sh; // for stack trace
@@ -155,5 +167,13 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string force_ip_gateway_; // e.g. "192.168.1.1"
std::atomic<bool> force_ip_success_{false};
std::string device_type_;
// bag recording
std::string bag_record_filename_;
bool bag_record_compression_ = true;
std::shared_ptr<ob::RecordDevice> record_device_ = nullptr;
// bag playback
std::string bag_filename_;
bool bag_loop_ = false;
std::shared_ptr<ob::PlaybackDevice> playback_device_ = nullptr;
};
} // namespace orbbec_camera