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Roll back enable_lrm to enable_ldp

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This commit is contained in:
jj
2025-02-28 10:50:43 +08:00
parent bafcf487d9
commit be6d098782
12 changed files with 39 additions and 39 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6 -6
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@@ -264,7 +264,7 @@ class OBCameraNode {
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void setLrmEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
void setLdpEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
@@ -285,7 +285,7 @@ class OBCameraNode {
std::shared_ptr<SetBool::Response>& response,
const stream_index_pair& stream_index);
void getLrmStatusCallback(const std::shared_ptr<GetBool::Request>& request,
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLrmMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
@@ -447,8 +447,8 @@ class OBCameraNode {
set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_lrm_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_lrm_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
@@ -499,8 +499,8 @@ class OBCameraNode {
bool enable_depth_auto_exposure_priority_ = false;
bool enable_ir_auto_exposure_ = true;
bool enable_ir_long_exposure_ = false;
bool enable_lrm_ = true;
int lrm_power_level_ = -1;
bool enable_ldp_ = true;
int ldp_power_level_ = -1;
int color_exposure_ = -1;
int color_gain_ = -1;
int color_white_balance_ = -1;
orbbec_camera/launch/astra2.launch.py
+1 -1
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@@ -77,7 +77,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto.launch.py
+1 -1
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@@ -73,7 +73,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/femto_mega.launch.py
+1 -1
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@@ -82,7 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument("log_level", default_value="none"),
DeclareLaunchArgument("enable_publish_extrinsic", default_value="false"),
DeclareLaunchArgument("enable_d2c_viewer", default_value="false"),
DeclareLaunchArgument("enable_lrm", default_value="true"),
DeclareLaunchArgument("enable_ldp", default_value="true"),
DeclareLaunchArgument("enable_soft_filter", default_value="true"),
DeclareLaunchArgument("soft_filter_max_diff", default_value="-1"),
DeclareLaunchArgument("soft_filter_speckle_size", default_value="-1"),
orbbec_camera/launch/gemini2.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('decimation_filter_scale', default_value='-1'),
# Configure the path for depth filter file, for example: /config/depthfilter/Gemini2_v1.7.json
orbbec_camera/launch/gemini2L.launch.py
+1 -1
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@@ -76,7 +76,7 @@ def generate_launch_description():
DeclareLaunchArgument('log_level', default_value='none'),
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('enable_decimation_filter', default_value='false'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
orbbec_camera/launch/gemini_330_series.launch.py
+2 -2
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@@ -131,8 +131,8 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('lrm_power_level', default_value='-1'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('ldp_power_level', default_value='-1'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1 -1
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@@ -114,7 +114,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_publish_extrinsic', default_value='false'),
DeclareLaunchArgument('enable_d2c_viewer', default_value='false'),
DeclareLaunchArgument('enable_hardware_d2d', default_value='true'),
DeclareLaunchArgument('enable_lrm', default_value='true'),
DeclareLaunchArgument('enable_ldp', default_value='true'),
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
orbbec_camera/launch/multi_camera.launch.py
+2 -2
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@@ -16,7 +16,7 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_01',
'usb_port': '2-1',
'serial_number': 'CP769450007K',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',
@@ -30,7 +30,7 @@ def generate_launch_description():
),
launch_arguments={
'camera_name': 'camera_02',
'usb_port': '2-3',
'serial_number': 'CP1E542000F0',
'device_num': '2',
'sync_mode': 'standalone',
'enable_left_ir': 'true',
orbbec_camera/src/ob_camera_node.cpp
+9 -9
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@@ -209,18 +209,18 @@ void OBCameraNode::setupDevices() {
RCLCPP_INFO_STREAM(logger_, "Depth process is " << d2d_mode);
}
if (device_->isPropertySupported(OB_PROP_LDP_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Setting LRM to " << (enable_lrm_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_lrm_);
RCLCPP_INFO_STREAM(logger_, "Setting LDP to " << (enable_ldp_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_LDP_BOOL, enable_ldp_);
}
if (lrm_power_level_ != -1 &&
if (ldp_power_level_ != -1 &&
device_->isPropertySupported(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, OB_PERMISSION_WRITE)) {
auto range = device_->getIntPropertyRange(OB_PROP_LASER_POWER_LEVEL_CONTROL_INT);
if (lrm_power_level_ < range.min || lrm_power_level_ > range.max) {
RCLCPP_ERROR(logger_, "lrm power level value is out of range[%d,%d], please check the value",
if (ldp_power_level_ < range.min || ldp_power_level_ > range.max) {
RCLCPP_ERROR(logger_, "ldp power level value is out of range[%d,%d], please check the value",
range.min, range.max);
} else {
RCLCPP_INFO_STREAM(logger_, "Setting lrm power level to " << lrm_power_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, lrm_power_level_);
RCLCPP_INFO_STREAM(logger_, "Setting lrm power level to " << ldp_power_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LASER_POWER_LEVEL_CONTROL_INT, ldp_power_level_);
}
}
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
@@ -1429,8 +1429,8 @@ void OBCameraNode::getParameters() {
enable_colored_point_cloud_ = false;
depth_registration_ = false;
}
setAndGetNodeParameter<bool>(enable_lrm_, "enable_lrm", true);
setAndGetNodeParameter<int>(lrm_power_level_, "lrm_power_level", -1);
setAndGetNodeParameter<bool>(enable_ldp_, "enable_ldp", true);
setAndGetNodeParameter<int>(ldp_power_level_, "ldp_power_level", -1);
setAndGetNodeParameter<int>(soft_filter_max_diff_, "soft_filter_max_diff", -1);
setAndGetNodeParameter<int>(soft_filter_speckle_size_, "soft_filter_speckle_size", -1);
setAndGetNodeParameter<double>(liner_accel_cov_, "linear_accel_cov", 0.0003);
orbbec_camera/src/ros_service.cpp
+13 -13
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@@ -100,18 +100,18 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response);
});
set_lrm_enable_srv_ = node_->create_service<SetBool>(
"set_lrm_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
set_ldp_enable_srv_ = node_->create_service<SetBool>(
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLrmEnableCallback(request_header, request, response);
setLdpEnableCallback(request_header, request, response);
});
get_lrm_status_srv_ = node_->create_service<GetBool>(
"get_lrm_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
get_ldp_status_srv_ = node_->create_service<GetBool>(
"get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLrmStatusCallback(request, response);
getLdpStatusCallback(request, response);
});
get_white_balance_srv_ = node_->create_service<GetInt32>(
@@ -494,26 +494,26 @@ void OBCameraNode::setLaserEnableCallback(
}
}
void OBCameraNode::setLrmEnableCallback(
void OBCameraNode::setLdpEnableCallback(
const std::shared_ptr<rmw_request_id_t>& request_header,
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
(void)request_header;
(void)response;
bool lrm_enable = request->data;
bool ldp_enable = request->data;
try {
if (device_->isPropertySupported(OB_PROP_LASER_CONTROL_INT, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_CONTROL_INT);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
if (!lrm_enable) {
if (!ldp_enable) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
std::this_thread::sleep_for(std::chrono::milliseconds(3));
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
} else {
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setBoolProperty(OB_PROP_LDP_BOOL, ldp_enable);
}
}
response->success = true;
@@ -647,7 +647,7 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
}
}
void OBCameraNode::getLrmStatusCallback(const std::shared_ptr<GetBool::Request>& request,
void OBCameraNode::getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response) {
(void)request;
try {