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fix: remove firmware log parameters from lidar node and launch files

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slz
2026-03-27 10:48:06 +08:00
parent e043e5192f
commit 9d8f8486a5
3 changed files with 0 additions and 10 deletions
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orbbec_camera/include/orbbec_camera/ob_lidar_node.h
-1
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@@ -252,7 +252,6 @@ class OBLidarNode {
std::string time_domain_ = "device"; // device, system, global
bool enable_scan_to_point_ = false;
bool enable_heartbeat_ = false;
bool enable_firmware_log_ = false;
bool use_intra_process_ = false;
// lidar
orbbec_camera/launch/lidar.launch.py
-5
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@@ -186,11 +186,6 @@ def generate_launch_description():
default_value='false',
description='Send heartbeat to device.'
),
DeclareLaunchArgument(
'enable_firmware_log',
default_value='false',
description='Enable device firmware log output.'
),
DeclareLaunchArgument(
'enable_imu',
default_value='false',
orbbec_camera/src/ob_lidar_node.cpp
-4
View File
@@ -131,7 +131,6 @@ void OBLidarNode::getParameters() {
setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_firmware_log_, "enable_firmware_log", false);
setAndGetNodeParameter<std::string>(echo_mode_, "echo_mode", "");
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter<float>(min_angle_, "min_angle", -135.0);
@@ -207,9 +206,6 @@ void OBLidarNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
}
RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
<< (enable_firmware_log_ ? "ON" : "OFF"));
device_->enableFirmwareLog(enable_firmware_log_);
if (!echo_mode_.empty() &&
device_->isPropertySupported(OB_PROP_LIDAR_SPECIFIC_MODE_INT, OB_PERMISSION_READ_WRITE)) {
if (echo_mode_ == "Last Echo") {