add align mode param

orbbec_camera/launch/astra.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra2.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_adv.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_embedded_s.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_pro2.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_stereo_u3.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_d1.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcl.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw2.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max.launch.py

@@ -52,6 +52,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_pro.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/deeya.launch.py

@@ -61,6 +61,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='false'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_bolt.launch.py

@@ -78,6 +78,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_mega.launch.py

@@ -85,6 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2.launch.py

@@ -82,8 +82,9 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
-        DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('use_hardware_time', default_value='true'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2L.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2R.launch.py

@@ -108,6 +108,7 @@ def generate_launch_description():
         DeclareLaunchArgument('temporal_filter_diff_threshold', default_value='0.1'),
         DeclareLaunchArgument('temporal_filter_weight', default_value='0.4'),
         DeclareLaunchArgument('hole_filling_filter_mode', default_value='FILL_TOP'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2VL.launch.py

@@ -75,8 +75,9 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
-        DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('use_hardware_time', default_value='true'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2XL.launch.py

@@ -91,8 +91,9 @@ def generate_launch_description():
         DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
         DeclareLaunchArgument('enable_frame_sync', default_value='true'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
-        DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('use_hardware_time', default_value='true'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e.launch.py

@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e_lite.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew_lite.launch.py

@@ -55,7 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('video_convert', default_value='videoconvert'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
-
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_uw.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration