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Add set_software_trigger_enabled param and service

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jj
2025-06-23 15:11:53 +08:00
parent e52169a56f
commit 9e1ba961d3
6 changed files with 44 additions and 3 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+5
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@@ -313,6 +313,9 @@ class OBCameraNode {
std::shared_ptr<SetFilter ::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setSoftwareTriggerEnabledCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
@@ -493,6 +496,7 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_software_trigger_enabled_srv_;
rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_;
bool enable_sync_output_accel_gyro_ = false;
@@ -582,6 +586,7 @@ class OBCameraNode {
int trigger2image_delay_us_ = 0;
int trigger_out_delay_us_ = 0;
bool trigger_out_enabled_ = false;
bool software_trigger_enabled_ = false;
int frames_per_trigger_ = 2;
bool enable_ptp_config_ = false;
std::string depth_precision_str_;