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feat: publish LRM measure distance topic

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slz
2026-07-08 16:10:00 +08:00
parent fdc0d1fe9c
commit 9af4ecf39a
3 changed files with 65 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+7
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@@ -37,6 +37,7 @@
#include <std_srvs/srv/set_bool.hpp>
#include <std_srvs/srv/empty.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
#include <std_msgs/msg/int32.hpp>
#include <sensor_msgs/msg/camera_info.hpp>
#include <sensor_msgs/msg/compressed_image.hpp>
@@ -295,6 +296,8 @@ class OBCameraNode {
void publishDepthFiltersStatus();
void publishLrmObstacleDistance();
DepthFilterState buildDepthFilterState(const std::string& filter_name, bool enabled,
const std::shared_ptr<ob::Filter>& filter) const;
@@ -943,11 +946,15 @@ class OBCameraNode {
std::string export_config_json_file_path_ = "";
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
rclcpp::TimerBase::SharedPtr lrm_obstacle_distance_timer_;
rclcpp::TimerBase::SharedPtr diagnostic_timer_;
rclcpp::Publisher<std_msgs::msg::Int32>::SharedPtr lrm_obstacle_distance_pub_;
std::mutex diagnostic_mutex_;
std::condition_variable diagnostic_cv_;
bool diagnostic_running_ = false;
std::chrono::milliseconds software_trigger_period_{33};
bool enable_lrm_obstacle_distance_publish_ = false;
double lrm_obstacle_distance_publish_rate_ = 10.0;
bool enable_heartbeat_ = false;
bool enable_firmware_log_ = false;
std::map<stream_index_pair, bool> enable_undistortion_;