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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/dabai_dcw2.launch.py
+6
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@@ -35,6 +35,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_color', default_value='true'),
DeclareLaunchArgument('flip_color', 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('enable_color_auto_exposure_priority', default_value='false'),
@@ -56,6 +58,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_depth', default_value='true'),
DeclareLaunchArgument('flip_depth', 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'),
# /config/depthfilter/Openni_device.json，need config path.
DeclareLaunchArgument('depth_filter_config', default_value=''),
@@ -66,6 +70,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_ir', default_value='true'),
DeclareLaunchArgument('flip_ir', 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_exposure', default_value='-1'),