fix: update color frame queue max frames to 1 across launch files and camera node

orbbec_camera/examples/multi_camera_shared_container/gemini_330_series_shared_container.launch.py

@@ -111,7 +111,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -1009,7 +1009,7 @@ class OBCameraNode {
   // For color
   ColorFrameQueue color_frame_queue_;
   ColorQueueStats color_frame_queue_stats_;
-  int color_frame_queue_max_frames_ = 10;
+  int color_frame_queue_max_frames_ = 1;
   std::shared_ptr<std::thread> colorFrameThread_ = nullptr;
   std::atomic_bool stop_color_frame_threads_{false};
   std::mutex color_frame_queue_lock_;
@@ -1018,7 +1018,7 @@ class OBCameraNode {
   // For left color
   ColorFrameQueue left_color_frame_queue_;
   ColorQueueStats left_color_frame_queue_stats_;
-  int left_color_frame_queue_max_frames_ = 10;
+  int left_color_frame_queue_max_frames_ = 1;
   std::shared_ptr<std::thread> leftColorFrameThread_ = nullptr;
   std::mutex left_color_frame_queue_lock_;
   std::condition_variable left_color_frame_queue_cv_;
@@ -1026,7 +1026,7 @@ class OBCameraNode {
   // For right color
   ColorFrameQueue right_color_frame_queue_;
   ColorQueueStats right_color_frame_queue_stats_;
-  int right_color_frame_queue_max_frames_ = 10;
+  int right_color_frame_queue_max_frames_ = 1;
   std::shared_ptr<std::thread> rightColorFrameThread_ = nullptr;
   std::mutex right_color_frame_queue_lock_;
   std::condition_variable right_color_frame_queue_cv_;

orbbec_camera/launch/astra.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='640'),
         DeclareLaunchArgument('color_height', default_value='480'),
         DeclareLaunchArgument('color_fps', default_value='10'),

orbbec_camera/launch/astra2.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
         DeclareLaunchArgument("cloud_frame_id", default_value=""),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="1280"),
         DeclareLaunchArgument("color_height", default_value="720"),
         DeclareLaunchArgument("color_fps", default_value="30"),

orbbec_camera/launch/dabai_a.launch.py

@@ -86,7 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/dabai_al.launch.py

@@ -87,7 +87,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -28,7 +28,7 @@ def generate_launch_description():
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='640'),
         DeclareLaunchArgument('color_height', default_value='480'),
         DeclareLaunchArgument('color_fps', default_value='15'),

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -29,7 +29,7 @@ def generate_launch_description():
         DeclareLaunchArgument('point_cloud_qos', default_value='default'),
         DeclareLaunchArgument('connection_delay', default_value='100'),
         DeclareLaunchArgument('diagnostic_period', default_value='0.0'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='640'),
         DeclareLaunchArgument('color_height', default_value='480'),
         DeclareLaunchArgument('color_fps', default_value='25'),

orbbec_camera/launch/femto.launch.py

@@ -26,7 +26,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="640"),
         DeclareLaunchArgument("color_height", default_value="480"),
         DeclareLaunchArgument("color_fps", default_value="30"),

orbbec_camera/launch/femto_bolt.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="1280"),
         DeclareLaunchArgument("color_height", default_value="720"),
         DeclareLaunchArgument("color_fps", default_value="30"),

orbbec_camera/launch/femto_mega.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="1280"),
         DeclareLaunchArgument("color_height", default_value="720"),
         DeclareLaunchArgument("color_fps", default_value="30"),

orbbec_camera/launch/gemini2.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="0"),
         DeclareLaunchArgument("color_height", default_value="0"),
         DeclareLaunchArgument("color_fps", default_value="0"),

orbbec_camera/launch/gemini210.launch.py

@@ -27,7 +27,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="0"),
         DeclareLaunchArgument("color_height", default_value="0"),
         DeclareLaunchArgument("color_fps", default_value="0"),

orbbec_camera/launch/gemini2L.launch.py

@@ -90,7 +90,7 @@ def generate_launch_description():
         DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
         DeclareLaunchArgument("point_cloud_qos", default_value="default"),
         DeclareLaunchArgument("connection_delay", default_value="100"),
-        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
+        DeclareLaunchArgument("color_frame_queue_max_frames", default_value="1"),
         DeclareLaunchArgument("color_width", default_value="1280"),
         DeclareLaunchArgument("color_height", default_value="800"),
         DeclareLaunchArgument("color_fps", default_value="30"),

orbbec_camera/launch/gemini345.launch.py

@@ -86,7 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -87,7 +87,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -87,7 +87,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/gemini_301_series.launch.py

@@ -110,9 +110,9 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
-        DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='1'),
-        DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
         DeclareLaunchArgument('ae_strategy', default_value='default'), # default or motion
         DeclareLaunchArgument('color_width', default_value='0'),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -100,7 +100,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -98,7 +98,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/launch/gemini_330_series_sdk_json.launch.py

@@ -81,7 +81,7 @@ def generate_launch_description():
         DeclareLaunchArgument('load_config_json_file_path', default_value=''),
         DeclareLaunchArgument('export_config_json_file_path', default_value=''),
 
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
 
         DeclareLaunchArgument('color_qos', default_value='default'),
 

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -65,7 +65,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
         DeclareLaunchArgument('cloud_frame_id', default_value=''),
         DeclareLaunchArgument('connection_delay', default_value='10'),
-        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
+        DeclareLaunchArgument('color_frame_queue_max_frames', default_value='1'),
         DeclareLaunchArgument('color_width', default_value='0'),
         DeclareLaunchArgument('color_height', default_value='0'),
         DeclareLaunchArgument('color_fps', default_value='0'),

orbbec_camera/src/ob_camera_node.cpp

@@ -4721,11 +4721,11 @@ void OBCameraNode::setupDefaultImageFormat() {
 
 void OBCameraNode::getParameters() {
   setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera");
-  setAndGetNodeParameter<int>(color_frame_queue_max_frames_, "color_frame_queue_max_frames", 10);
+  setAndGetNodeParameter<int>(color_frame_queue_max_frames_, "color_frame_queue_max_frames", 1);
   setAndGetNodeParameter<int>(left_color_frame_queue_max_frames_,
-                              "left_color_frame_queue_max_frames", 10);
+                              "left_color_frame_queue_max_frames", 1);
   setAndGetNodeParameter<int>(right_color_frame_queue_max_frames_,
-                              "right_color_frame_queue_max_frames", 10);
+                              "right_color_frame_queue_max_frames", 1);
   const auto validate_queue_capacity = [](const char *name, int capacity) {
     if (capacity < 1) {
       throw StreamConfigurationError(std::string(name) + " must be greater than zero");