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feat: add device_type and device_access_mode launch arguments; include frame timestamp CSV options

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ob-yalian
2026-04-28 09:53:17 +08:00
parent cb84e79c20
commit bde8a548fb
1 changed files with 5 additions and 0 deletions
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orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
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@@ -69,6 +69,7 @@ def load_parameters(context, args):
def generate_launch_description():
args = [
DeclareLaunchArgument('device_type', default_value='camera'),
DeclareLaunchArgument('camera_name', default_value='camera'),
DeclareLaunchArgument('depth_registration', default_value='false'),
DeclareLaunchArgument('serial_number', default_value=''),
@@ -187,6 +188,7 @@ def generate_launch_description():
DeclareLaunchArgument('enumerate_net_device', default_value='true'),
DeclareLaunchArgument('net_device_ip', default_value=''),
DeclareLaunchArgument('net_device_port', default_value='0'),
DeclareLaunchArgument('device_access_mode', default_value='Default'), # Default, EA or CA . only for 335le
DeclareLaunchArgument('exposure_range_mode', default_value='default'),#default, ultimate or regular
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('log_file_name', default_value=''),
@@ -254,6 +256,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_sync_host_time', default_value='false'),
DeclareLaunchArgument('time_sync_period', default_value='6.0'), # seconds
DeclareLaunchArgument('time_domain', default_value='global'),# global, device, system
DeclareLaunchArgument('enable_frame_timestamp_csv', default_value='false'),
DeclareLaunchArgument('frame_timestamp_csv_file', default_value=''),
DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
DeclareLaunchArgument('config_file_path', default_value=''),
DeclareLaunchArgument('enable_heartbeat', default_value='false'),
@@ -302,6 +306,7 @@ def generate_launch_description():
DeclareLaunchArgument('left_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
#infra2
DeclareLaunchArgument('right_ir.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),
DeclareLaunchArgument('intra_camera_sync_reference', default_value=""),#Start, Middle or End
]
def get_params(context, args):