add enable heartbeat in launch file

orbbec_camera/launch/astra.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra2.launch.py

@@ -79,6 +79,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_adv.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_embedded_s.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_pro2.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_stereo_u3.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_d1.launch.py

@@ -55,6 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcl.py

@@ -92,6 +92,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw.launch.py

@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw2.launch.py

@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max.launch.py

@@ -56,6 +56,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_pro.launch.py

@@ -54,6 +54,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/deeya.launch.py

@@ -69,6 +69,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto.launch.py

@@ -80,6 +80,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_bolt.launch.py

@@ -87,6 +87,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='SW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_mega.launch.py

@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2.launch.py

@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2L.launch.py

@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2VL.launch.py

@@ -86,6 +86,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2XL.launch.py

@@ -102,6 +102,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_330_series.launch.py

@@ -166,6 +166,7 @@ def generate_launch_description():
         DeclareLaunchArgument('time_domain', default_value='device'),
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     def get_params(context, args):

orbbec_camera/launch/gemini_e.launch.py

@@ -70,6 +70,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e_lite.launch.py

@@ -55,6 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew_lite.launch.py

@@ -57,6 +57,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
 
     ]
 

orbbec_camera/launch/gemini_uw.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
+        DeclareLaunchArgument('enable_heartbeat', default_value='false'),
     ]
 
     # Node configuration