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feat: add get_laser_status service and callback to retrieve laser status

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ob-yalian
2025-11-03 14:24:53 +08:00
parent 0b2b33d138
commit 87a3ffd05f
2 changed files with 32 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3 -1
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@@ -350,7 +350,8 @@ class OBCameraNode {
void setRotationCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response,
const stream_index_pair& stream_index);
void getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getPtpConfigCallback(const std::shared_ptr<GetBool::Request>& request,
@@ -559,6 +560,7 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ptp_config_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ptp_config_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;