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use single thread publish point cloud

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This commit is contained in:
Joe Dong
2022-06-30 11:39:33 +08:00
parent 306864d921
commit a0abf05467
6 changed files with 136 additions and 16 deletions
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orbbec_camera/params/ob_camera_params.yaml
+5 -5
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@@ -1,7 +1,7 @@
/**:
ros__parameters:
color_width: 2048
color_height: 1536
color_width: 1280
color_height: 720
color_fps: 30.0
color_frame_id: "color_frame"
color_optical_frame_id: "color_optical_frame"
@@ -12,8 +12,8 @@
ir_frame_id: "ir_frame"
ir_optical_frame_id: "ir_optical_frame"
enable_ir: true
depth_width: 1280
depth_height: 1024
depth_width: 640
depth_height: 480
depth_fps: 30.0
depth_frame_id: "depth_frame"
depth_optical_frame_id: "depth_optical_frame"
@@ -22,7 +22,7 @@
tf_publish_rate: 10.0
wait_for_device_timeout: 120.0
reconnect_timeout: 6.0
d2c_mode: "none"
d2c_mode: "hw"
serial_number: ""
camera_link_frame_id: "camera_link"
ob_log_level: "none"