From 9c41e0523f6eed075f2ae02383e6d0bdec8616f1 Mon Sep 17 00:00:00 2001
From: jj <957713278@qq.com>
Date: Tue, 11 Feb 2025 18:09:03 +0800
Subject: [PATCH] Fix the problem that shutting down LDP using service causes
 laser to shut down

---
 orbbec_camera/src/ros_service.cpp | 10 +++++++++-
 1 file changed, 9 insertions(+), 1 deletion(-)

diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index 686a6606..1d84220b 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -502,7 +502,15 @@ void OBCameraNode::setLdpEnableCallback(
   (void)response;
   bool ldp_enable = request->data;
   try {
-    device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
+    if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
+      auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
+      device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
+      device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
+    } else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
+      auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
+      device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
+      device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
+    }
     response->success = true;
   } catch (const ob::Error& e) {
     response->success = false;