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feat: configure image publisher history depth

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slz
2026-08-19 10:08:17 +08:00
parent 282ab4b022
commit ac4346468e
22 changed files with 196 additions and 13 deletions
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orbbec_camera/launch/astra2.launch.py
+6
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@@ -34,6 +34,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_color", default_value="true"),
DeclareLaunchArgument("color_flip", default_value="false"),
DeclareLaunchArgument("color_qos", default_value="default"),
DeclareLaunchArgument("color_qos_history", default_value="default"),
DeclareLaunchArgument("color_qos_depth", default_value="-1"),
DeclareLaunchArgument("color_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_color_auto_exposure", default_value="true"),
DeclareLaunchArgument("color_ae_max_exposure", default_value="-1"),
@@ -49,6 +51,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_depth", default_value="true"),
DeclareLaunchArgument("depth_flip", default_value="false"),
DeclareLaunchArgument("depth_qos", default_value="default"),
DeclareLaunchArgument("depth_qos_history", default_value="default"),
DeclareLaunchArgument("depth_qos_depth", default_value="-1"),
DeclareLaunchArgument("depth_camera_info_qos", default_value="default"),
DeclareLaunchArgument("ir_width", default_value="800"),
DeclareLaunchArgument("ir_height", default_value="600"),
@@ -57,6 +61,8 @@ def generate_launch_description():
DeclareLaunchArgument("enable_ir", default_value="true"),
DeclareLaunchArgument("ir_flip", default_value="false"),
DeclareLaunchArgument("ir_qos", default_value="default"),
DeclareLaunchArgument("ir_qos_history", default_value="default"),
DeclareLaunchArgument("ir_qos_depth", default_value="-1"),
DeclareLaunchArgument("ir_camera_info_qos", default_value="default"),
DeclareLaunchArgument("enable_ir_auto_exposure", default_value="true"),
DeclareLaunchArgument("ir_ae_max_exposure", default_value="-1"),