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Add set_software_trigger_enabled param and service

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This commit is contained in:
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/src/ob_camera_node.cpp
+7 -3
View File
@@ -299,8 +299,11 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Frames per trigger: " << sync_config.framesPerTrigger);
RCLCPP_INFO_STREAM(logger_,
"Software trigger period " << software_trigger_period_.count() << " ms");
software_trigger_timer_ = node_->create_wall_timer(
software_trigger_period_, [this]() { TRY_EXECUTE_BLOCK(device_->triggerCapture()); });
software_trigger_timer_ = node_->create_wall_timer(software_trigger_period_, [this]() {
if (software_trigger_enabled_) {
TRY_EXECUTE_BLOCK(device_->triggerCapture());
}
});
}
}
if (device_->isPropertySupported(OB_DEVICE_PTP_CLOCK_SYNC_ENABLE_BOOL,
@@ -1652,7 +1655,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(color_delay_us_, "color_delay_us", 0);
setAndGetNodeParameter<int>(trigger2image_delay_us_, "trigger2image_delay_us", 0);
setAndGetNodeParameter<int>(trigger_out_delay_us_, "trigger_out_delay_us", 0);
setAndGetNodeParameter<bool>(trigger_out_enabled_, "trigger_out_enabled", false);
setAndGetNodeParameter<bool>(trigger_out_enabled_, "trigger_out_enabled", true);
setAndGetNodeParameter<bool>(software_trigger_enabled_, "software_trigger_enabled", true);
setAndGetNodeParameter<bool>(enable_ptp_config_, "enable_ptp_config", false);
setAndGetNodeParameter<std::string>(cloud_frame_id_, "cloud_frame_id", "");
if (enable_colored_point_cloud_ || enable_d2c_viewer_) {
orbbec_camera/src/ros_service.cpp
+23
View File
@@ -206,6 +206,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
set_software_trigger_enabled_srv_ = node_->create_service<SetBool>(
"set_software_trigger_enabled", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setSoftwareTriggerEnabledCallback(request, response);
});
set_write_customerdata_srv_ = node_->create_service<SetString>(
"set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
@@ -1058,6 +1063,24 @@ void OBCameraNode::setSYNCHostimeCallback(
}
}
void OBCameraNode::setSoftwareTriggerEnabledCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
software_trigger_enabled_ = request->data;
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
void OBCameraNode::setWriteCustomerData(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response) {
if (request->data.empty()) {