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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/gemini345_lg.launch.py
+8
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@@ -94,6 +94,8 @@ def generate_launch_description():
DeclareLaunchArgument('color_format', default_value='ANY'),
DeclareLaunchArgument('enable_color', default_value='true'),
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_priority', default_value='false'),
DeclareLaunchArgument('enable_color_auto_exposure', default_value='true'),
@@ -116,6 +118,8 @@ def generate_launch_description():
DeclareLaunchArgument('depth_format', default_value='ANY'),
DeclareLaunchArgument('enable_depth', default_value='true'),
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('enable_depth_auto_exposure_priority', default_value='false'),
DeclareLaunchArgument('depth_precision', default_value=''),
@@ -126,6 +130,8 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_left_ir', default_value='false'),
DeclareLaunchArgument('left_ir_qos', default_value='default'),
DeclareLaunchArgument('left_ir_qos_history', default_value='default'),
DeclareLaunchArgument('left_ir_qos_depth', default_value='-1'),
DeclareLaunchArgument('left_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('right_ir_width', default_value='0'),
DeclareLaunchArgument('right_ir_height', default_value='0'),
@@ -133,6 +139,8 @@ def generate_launch_description():
DeclareLaunchArgument('right_ir_format', default_value='ANY'),
DeclareLaunchArgument('enable_right_ir', default_value='false'),
DeclareLaunchArgument('right_ir_qos', default_value='default'),
DeclareLaunchArgument('right_ir_qos_history', default_value='default'),
DeclareLaunchArgument('right_ir_qos_depth', default_value='-1'),
DeclareLaunchArgument('right_ir_camera_info_qos', default_value='default'),
DeclareLaunchArgument('enable_ir_auto_exposure', default_value='true'),
DeclareLaunchArgument('ir_exposure', default_value='-1'),