From 96c00807869fe2a73b2c8e113b2e42260ad90aa4 Mon Sep 17 00:00:00 2001 From: slz Date: Mon, 13 Apr 2026 10:42:09 +0800 Subject: [PATCH] feat: add frame timestamp CSV logging arguments to launch files --- orbbec_camera/launch/astra.launch.py | 2 ++ orbbec_camera/launch/astra2.launch.py | 2 ++ orbbec_camera/launch/dabai_dcw2.launch.py | 2 ++ orbbec_camera/launch/dabai_max_pro.launch.py | 2 ++ orbbec_camera/launch/femto.launch.py | 2 ++ orbbec_camera/launch/femto_bolt.launch.py | 2 ++ orbbec_camera/launch/femto_mega.launch.py | 2 ++ orbbec_camera/launch/gemini2.launch.py | 2 ++ orbbec_camera/launch/gemini2L.launch.py | 2 ++ 9 files changed, 18 insertions(+) diff --git a/orbbec_camera/launch/astra.launch.py b/orbbec_camera/launch/astra.launch.py index 464e5d80..475c0b6a 100644 --- a/orbbec_camera/launch/astra.launch.py +++ b/orbbec_camera/launch/astra.launch.py @@ -72,6 +72,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/astra2.launch.py b/orbbec_camera/launch/astra2.launch.py index 942ef232..961f674d 100644 --- a/orbbec_camera/launch/astra2.launch.py +++ b/orbbec_camera/launch/astra2.launch.py @@ -80,6 +80,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/dabai_dcw2.launch.py b/orbbec_camera/launch/dabai_dcw2.launch.py index af1afe84..af357e93 100644 --- a/orbbec_camera/launch/dabai_dcw2.launch.py +++ b/orbbec_camera/launch/dabai_dcw2.launch.py @@ -125,6 +125,8 @@ def generate_launch_description(): DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('industry_mode', default_value=''), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), #color image transport plugins DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'), diff --git a/orbbec_camera/launch/dabai_max_pro.launch.py b/orbbec_camera/launch/dabai_max_pro.launch.py index f36d8a19..c8c1d35d 100644 --- a/orbbec_camera/launch/dabai_max_pro.launch.py +++ b/orbbec_camera/launch/dabai_max_pro.launch.py @@ -73,6 +73,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/femto.launch.py b/orbbec_camera/launch/femto.launch.py index 3b35af3b..661d7214 100644 --- a/orbbec_camera/launch/femto.launch.py +++ b/orbbec_camera/launch/femto.launch.py @@ -81,6 +81,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/femto_bolt.launch.py b/orbbec_camera/launch/femto_bolt.launch.py index 11b06ef1..41d5436e 100644 --- a/orbbec_camera/launch/femto_bolt.launch.py +++ b/orbbec_camera/launch/femto_bolt.launch.py @@ -89,6 +89,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='SW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/femto_mega.launch.py b/orbbec_camera/launch/femto_mega.launch.py index c1c31289..55c2ff56 100644 --- a/orbbec_camera/launch/femto_mega.launch.py +++ b/orbbec_camera/launch/femto_mega.launch.py @@ -96,6 +96,8 @@ def generate_launch_description(): DeclareLaunchArgument('align_mode', default_value='HW'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/gemini2.launch.py b/orbbec_camera/launch/gemini2.launch.py index 388193ef..358e0af6 100644 --- a/orbbec_camera/launch/gemini2.launch.py +++ b/orbbec_camera/launch/gemini2.launch.py @@ -99,6 +99,8 @@ def generate_launch_description(): DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration diff --git a/orbbec_camera/launch/gemini2L.launch.py b/orbbec_camera/launch/gemini2L.launch.py index f71d1a59..355e8172 100644 --- a/orbbec_camera/launch/gemini2L.launch.py +++ b/orbbec_camera/launch/gemini2L.launch.py @@ -96,6 +96,8 @@ def generate_launch_description(): DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('enable_heartbeat', default_value='false'), DeclareLaunchArgument('enable_noise_removal_filter', default_value='false'), + DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'), + DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''), ] # Node configuration