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Update Lidar README

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jj
2025-06-11 15:25:01 +08:00
parent 721d07d1fb
commit 80d9ba170c
7 changed files with 206 additions and 59 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+5 -4
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@@ -138,7 +138,7 @@ void OBLidarNode::getParameters() {
setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<std::string>(echo_mode_, "echo_mode", "single channel");
setAndGetNodeParameter<std::string>(echo_mode_, "echo_mode", "");
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<float>(min_angle_, "min_angle", -135.0);
setAndGetNodeParameter<float>(max_angle_, "max_angle", 135.0);
@@ -164,10 +164,11 @@ void OBLidarNode::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_LIDAR_ECHO_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (echo_mode_ == "single channel") {
if (!echo_mode_.empty() &&
device_->isPropertySupported(OB_PROP_LIDAR_ECHO_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (echo_mode_ == "Last Echo") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_ECHO_MODE_INT, 0);
} else if (echo_mode_ == "dual channel") {
} else if (echo_mode_ == "First Echo") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_ECHO_MODE_INT, 1);
}
RCLCPP_INFO_STREAM(