From a8e77fc8c70a290e90fc212f751455655224d29f Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Tue, 13 Jan 2026 18:02:15 +0800
Subject: [PATCH] fix: add checks for AE mode compatibility with Gemini 305 PID

---
 orbbec_camera/src/ros_service.cpp | 14 ++++++++++++++
 1 file changed, 14 insertions(+)

diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index 77e9dd76..7daf3a8f 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -493,6 +493,20 @@ void OBCameraNode::setAeRoiCallback(const std::shared_ptr<SetArrays ::Request>&
                                     std::shared_ptr<SetArrays::Response>& response,
                                     const stream_index_pair& stream_index) {
   auto stream = stream_index.first;
+  if (device_->getDeviceInfo()->getPid() == GEMINI_305_PID &&
+      (stream != OB_STREAM_COLOR && ae_mode_ == "colorbased")) {
+    response->success = false;
+    response->message =
+        "AE MODE is colorbased, other sensors setting is not supported on Gemini305";
+    return;
+  }
+  if (device_->getDeviceInfo()->getPid() == GEMINI_305_PID &&
+      (stream != OB_STREAM_DEPTH && ae_mode_ == "depthbased")) {
+    response->success = false;
+    response->message =
+        "AE MODE is depthbased, other sensors sensor setting is not supported on Gemini305";
+    return;
+  }
   auto config = OBRegionOfInterest();
   uint32_t data_size = sizeof(config);
   try {