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Add repetitive_scan_mode ,filter_level and vertical_fov params

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This commit is contained in:
jj
2025-07-03 14:30:35 +08:00
parent c5e5d7646e
commit be19842c40
3 changed files with 50 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_lidar_node.h
+3
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@@ -244,6 +244,9 @@ class OBLidarNode {
float max_angle_ = 135.0;
float min_range_ = 0.05;
float max_range_ = 30.0;
int repetitive_scan_mode_ = -1;
int filter_level_ = -1;
float vertical_fov_ = -1;
};
} // namespace orbbec_lidar
orbbec_camera/launch/lidar.launch.py
+3
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@@ -60,6 +60,9 @@ def generate_launch_description():
DeclareLaunchArgument('tf_publish_rate', default_value='0.0'),
DeclareLaunchArgument('lidar_format', default_value='ANY'),#LIDAR_POINT, LIDAR_SPHERE_POINT, LIDAR_SCAN
DeclareLaunchArgument('lidar_rate', default_value='20'),
DeclareLaunchArgument('repetitive_scan_mode', default_value='-1'),
DeclareLaunchArgument('filter_level', default_value='-1'),
DeclareLaunchArgument('vertical_fov', default_value='-1.0'),
DeclareLaunchArgument('min_angle', default_value='-135.0'),
DeclareLaunchArgument('max_angle', default_value='135.0'),
DeclareLaunchArgument('min_range', default_value='0.05'),
orbbec_camera/src/ob_lidar_node.cpp
+44
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@@ -144,6 +144,9 @@ void OBLidarNode::getParameters() {
setAndGetNodeParameter<float>(max_angle_, "max_angle", 135.0);
setAndGetNodeParameter<float>(min_range_, "min_range", 0.05);
setAndGetNodeParameter<float>(max_range_, "max_range", 30.0);
setAndGetNodeParameter<int>(repetitive_scan_mode_, "repetitive_scan_mode", -1);
setAndGetNodeParameter<int>(filter_level_, "filter_level", -1);
setAndGetNodeParameter<float>(vertical_fov_, "vertical_fov", -1.0);
}
void OBLidarNode::setupDevices() {
@@ -176,6 +179,47 @@ void OBLidarNode::setupDevices() {
<< (device_->getIntProperty(OB_PROP_LIDAR_ECHO_MODE_INT) ? "First Echo"
: "Last Echo"));
}
if (repetitive_scan_mode_ != -1 &&
device_->isPropertySupported(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
OB_PERMISSION_READ_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT);
if (repetitive_scan_mode_ <= range.min || repetitive_scan_mode_ >= range.max) {
RCLCPP_ERROR(logger_,
"repetitive scan mode value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
repetitive_scan_mode_);
RCLCPP_INFO_STREAM(logger_, "Setting repetitive scan mode to " << device_->getIntProperty(
OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT));
}
}
if (filter_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, OB_PERMISSION_READ_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT);
if (filter_level_ <= range.min || filter_level_ >= range.max) {
RCLCPP_ERROR(logger_, "filter level value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, filter_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_APPLY_CONFIGS_INT, 1);
RCLCPP_INFO_STREAM(logger_, "Setting filter level to " << device_->getIntProperty(
OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT));
}
}
if (vertical_fov_ != -1.0 &&
device_->isPropertySupported(OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, OB_PERMISSION_READ_WRITE)) {
auto range = device_->getFloatPropertyRange(OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT);
if (vertical_fov_ <= range.min || vertical_fov_ >= range.max) {
RCLCPP_ERROR(logger_, "vertical fov value is out of range[%f,%f], please check the value",
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setFloatProperty, OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, vertical_fov_);
RCLCPP_INFO_STREAM(logger_, "Setting vertical fov to " << device_->getFloatProperty(
OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT));
}
}
}
void OBLidarNode::setupProfiles() {