i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-07 13:37:44 +08:00
Code Issues Packages Projects Releases Wiki Activity

feat: add get_laser_status service and callback to retrieve laser status

Browse Source
This commit is contained in:
ob-yalian
2025-11-03 14:24:53 +08:00
parent 0b2b33d138
commit 87a3ffd05f
2 changed files with 32 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ros_service.cpp
+29
View File
@@ -135,6 +135,13 @@ void OBCameraNode::setupCameraCtrlServices() {
(void)request_header;
getLdpStatusCallback(request, response);
});
get_laser_status_srv_ = node_->create_service<GetBool>(
"get_laser_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLaserStatusCallback(request, response);
});
set_ptp_config_srv_ = node_->create_service<SetBool>(
"set_ptp_config", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
@@ -950,6 +957,28 @@ void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>&
}
}
void OBCameraNode::getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_CONTROL_INT);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
response->data = device_->getBoolProperty(OB_PROP_LASER_BOOL);
}
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setPtpConfigCallback(
const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,