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fix: update launch file to change device preset to depth work mode and enhance depth mode logging

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ob-yalian
2025-11-07 11:30:48 +08:00
parent da6630d0e5
commit a4ec07a07f
2 changed files with 8 additions and 3 deletions
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orbbec_camera/launch/gemini435_le.launch.py
+1 -1
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@@ -230,7 +230,7 @@ def generate_launch_description():
DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds DeclareLaunchArgument('diagnostic_period', default_value='1.0'), # seconds
DeclareLaunchArgument('enable_laser', default_value='true'), DeclareLaunchArgument('enable_laser', default_value='true'),
DeclareLaunchArgument('depth_precision', default_value=''), DeclareLaunchArgument('depth_precision', default_value=''),
DeclareLaunchArgument('device_preset', default_value='Default'), DeclareLaunchArgument('depth_work_mode', default_value='AMR Perception'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'), DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
DeclareLaunchArgument('laser_energy_level', default_value='-1'), DeclareLaunchArgument('laser_energy_level', default_value='-1'),
DeclareLaunchArgument('enable_sync_host_time', default_value='true'), DeclareLaunchArgument('enable_sync_host_time', default_value='true'),
orbbec_camera/src/ob_camera_node.cpp
+7 -2
View File
@@ -345,9 +345,14 @@ void OBCameraNode::setupDevices() {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset"); RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset");
} }
} }
if (!depth_work_mode_.empty()) { if (!depth_work_mode_.empty() &&
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_); device_->isPropertySupported(OB_STRUCT_CURRENT_DEPTH_ALG_MODE, OB_PERMISSION_READ_WRITE)) {
auto depthModeList = device_->getDepthWorkModeList();
for (uint32_t i = 0; i < depthModeList->getCount(); i++) {
RCLCPP_INFO_STREAM(logger_, "depthModeList[" << i << "]: " << (*depthModeList)[i].name);
}
TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str())); TRY_EXECUTE_BLOCK(device_->switchDepthWorkMode(depth_work_mode_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Set depth work mode: " << depth_work_mode_);
} }
if (!sync_mode_str_.empty()) { if (!sync_mode_str_.empty()) {
auto sync_config = device_->getMultiDeviceSyncConfig(); auto sync_config = device_->getMultiDeviceSyncConfig();