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feat(camera): support GigE Action Commands

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This commit is contained in:
slz
2026-09-03 15:06:58 +08:00
parent 0caafc5c20
commit 8e8c183e03
5 changed files with 180 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+12
View File
@@ -53,6 +53,7 @@
#include "orbbec_camera_msgs/msg/depth_filter_state.hpp"
#include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
#include "orbbec_camera_msgs/srv/get_device_config.hpp"
#include "orbbec_camera_msgs/srv/get_action_config.hpp"
#include "orbbec_camera_msgs/srv/get_device_info.hpp"
#include "orbbec_camera_msgs/srv/get_awb_gain.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
@@ -65,6 +66,7 @@
#include "orbbec_camera_msgs/srv/get_bool.hpp"
#include "orbbec_camera_msgs/srv/set_string.hpp"
#include "orbbec_camera_msgs/srv/set_filter.hpp"
#include "orbbec_camera_msgs/srv/set_action_config.hpp"
#include "orbbec_camera_msgs/srv/set_arrays.hpp"
#include "orbbec_camera_msgs/srv/set_stream_profile.hpp"
#include "orbbec_camera_msgs/srv/get_user_calib_params.hpp"
@@ -135,6 +137,7 @@
namespace orbbec_camera {
using GetDeviceConfig = orbbec_camera_msgs::srv::GetDeviceConfig;
using GetActionConfig = orbbec_camera_msgs::srv::GetActionConfig;
using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
@@ -146,6 +149,7 @@ using SetString = orbbec_camera_msgs::srv::SetString;
using SetBool = std_srvs::srv::SetBool;
using GetBool = orbbec_camera_msgs::srv::GetBool;
using SetFilter = orbbec_camera_msgs::srv::SetFilter;
using SetActionConfig = orbbec_camera_msgs::srv::SetActionConfig;
using SetArrays = orbbec_camera_msgs::srv::SetArrays;
using SetStreamProfile = orbbec_camera_msgs::srv::SetStreamProfile;
using SetUserCalibParams = orbbec_camera_msgs::srv::SetUserCalibParams;
@@ -481,6 +485,12 @@ class OBCameraNode {
void getDeviceConfigCallback(const std::shared_ptr<GetDeviceConfig::Request>& request,
std::shared_ptr<GetDeviceConfig::Response>& response);
void getActionConfigCallback(const std::shared_ptr<GetActionConfig::Request>& request,
std::shared_ptr<GetActionConfig::Response>& response);
void setActionConfigCallback(const std::shared_ptr<SetActionConfig::Request>& request,
std::shared_ptr<SetActionConfig::Response>& response);
void getSDKVersion(const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response);
@@ -778,6 +788,8 @@ class OBCameraNode {
std::map<stream_index_pair, rclcpp::Service<SetArrays>::SharedPtr> set_ae_roi_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<GetDeviceConfig>::SharedPtr get_device_config_srv_;
rclcpp::Service<GetActionConfig>::SharedPtr get_action_config_srv_;
rclcpp::Service<SetActionConfig>::SharedPtr set_action_config_srv_;
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_;
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+6
View File
@@ -33,6 +33,7 @@
#include "libobsensor/hpp/Device.hpp"
#include "libobsensor/hpp/RecordPlayback.hpp"
#include "orbbec_camera_msgs/srv/set_bag_recording.hpp"
#include "orbbec_camera_msgs/srv/send_action_command.hpp"
namespace orbbec_camera {
@@ -87,6 +88,9 @@ class OBCameraNodeDriver : public rclcpp::Node {
void setBagRecordingCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Response> response);
void sendActionCommandCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SendActionCommand::Response> response);
void presetUpdateCallback(bool firstCall, OBFwUpdateState state, const char* message,
uint8_t percent);
void updatePresetFirmware(std::string path);
@@ -148,6 +152,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
rclcpp::Service<orbbec_camera_msgs::srv::SetBagRecording>::SharedPtr set_bag_recording_srv_ =
nullptr;
rclcpp::Service<orbbec_camera_msgs::srv::SendActionCommand>::SharedPtr send_action_command_srv_ =
nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
std::string extension_path_;
static backward::SignalHandling sh; // for stack trace