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[sync]add Interleave Laser sync

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jj
2024-11-19 17:45:50 +08:00
parent 79ea8ea93a
commit b9c8edf3b1
3 changed files with 27 additions and 2 deletions
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orbbec_camera/config/tools/multisavergbir/multi_save_rgbir_params.json
+1 -1
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@@ -14,7 +14,7 @@
"color_topics": [ "color_topics": [
"/G0_4J/color/image_raw", "/G0_4J/color/image_raw",
"/G1_F0/color/image_raw", "/G1_F0/color/image_raw",
"/G2_15/left_ir/image_raw" "/G2_15/color/image_raw"
] ]
} }
} }
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+3
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@@ -293,6 +293,8 @@ class OBCameraNode {
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request, void setRESETTimestampCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response); std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setSYNCInterleaveLaserCallback(const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response);
bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg); bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request, void saveImageCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
@@ -443,6 +445,7 @@ class OBCameraNode {
rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_; rclcpp::Service<GetInt32>::SharedPtr get_ldp_measure_distance_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_immediately_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
bool enable_sync_output_accel_gyro_ = false; bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false; bool publish_tf_ = false;
orbbec_camera/src/ros_service.cpp
+23 -1
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@@ -179,6 +179,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) { std::shared_ptr<SetBool::Response> response) {
setRESETTimestampCallback(request, response); setRESETTimestampCallback(request, response);
}); });
set_interleaver_laser_sync_srv_ = node_->create_service<SetInt32>(
"set_sync_interleaverlaser", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setSYNCInterleaveLaserCallback(request, response);
});
} }
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request, void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -815,5 +820,22 @@ void OBCameraNode::setRESETTimestampCallback(
response->success = false; response->success = false;
} }
} }
void OBCameraNode::setSYNCInterleaveLaserCallback(
const std::shared_ptr<SetInt32 ::Request>& request,
std::shared_ptr<SetInt32 ::Response>& response) {
(void)request;
try {
device_->setIntProperty(OB_PROP_TIMER_RESET_TRIGGER_OUT_ENABLE_BOOL, request->data);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera } // namespace orbbec_camera