feat: add AE/AWB lock test functionality and related services

orbbec_camera_msgs/CMakeLists.txt

@@ -7,6 +7,7 @@ endif()
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(action_msgs REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(std_msgs REQUIRED)
@@ -31,16 +32,20 @@ rosidl_generate_interfaces(
     "srv/GetDeviceInfo.srv"
     "srv/GetCameraInfo.srv"
     "srv/GetInt32.srv"
+    "srv/GetAwbGain.srv"
     "srv/GetString.srv"
     "srv/SetFilter.srv"
     "srv/SetInt32.srv"
+    "srv/SetAwbGain.srv"
     "srv/SetString.srv"
     "srv/SetArrays.srv"
     "srv/GetUserCalibParams.srv"
     "srv/SetUserCalibParams.srv"
     "srv/SetBagRecording.srv"
     "srv/SetStreamProfile.srv"
+    "action/RunAeAwbLockTest.action"
     DEPENDENCIES
+    action_msgs
     sensor_msgs
     std_msgs
 )

orbbec_camera_msgs/action/RunAeAwbLockTest.action

@@ -0,0 +1,23 @@
+# A value of zero uses the sample's default timeout of 10 seconds.
+uint32 timeout_ms
+---
+bool success
+string message
+
+int32 captured_exposure
+int32 captured_color_gain
+uint16 captured_awb_r_gain
+uint16 captured_awb_b_gain
+uint16 captured_awb_g_gain
+int32 captured_color_temperature
+
+int32 actual_exposure
+int32 actual_color_gain
+uint16 actual_awb_r_gain
+uint16 actual_awb_b_gain
+uint16 actual_awb_g_gain
+int32 actual_color_temperature
+---
+string phase
+# Raw SDK status read for this phase.
+int32 ae_awb_status

orbbec_camera_msgs/package.xml

@@ -9,6 +9,7 @@
 
   <buildtool_depend>ament_cmake</buildtool_depend>
 
+  <depend>action_msgs</depend>
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
   <build_depend>rosidl_default_generators</build_depend>

orbbec_camera_msgs/srv/GetAwbGain.srv

@@ -0,0 +1,7 @@
+---
+# Raw Q8.8 AWB channel gains.
+uint16 r_gain
+uint16 b_gain
+uint16 g_gain
+bool success
+string message

orbbec_camera_msgs/srv/SetAwbGain.srv

@@ -0,0 +1,7 @@
+# Raw Q8.8 AWB channel gains.
+uint16 r_gain
+uint16 b_gain
+uint16 g_gain
+---
+bool success
+string message