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feat: bound and diagnose color frame queues

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This commit is contained in:
slz
2026-08-19 10:27:58 +08:00
parent ac4346468e
commit c141430c62
23 changed files with 244 additions and 42 deletions
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orbbec_camera/launch/astra.launch.py
+1
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@@ -28,6 +28,7 @@ def generate_launch_description():
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='10'),
orbbec_camera/launch/astra2.launch.py
+1
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@@ -27,6 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("cloud_frame_id", default_value=""),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/dabai_a.launch.py
+1
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@@ -88,6 +88,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/dabai_al.launch.py
+1
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@@ -88,6 +88,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/dabai_dcw2.launch.py
+1
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@@ -28,6 +28,7 @@ def generate_launch_description():
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='15'),
orbbec_camera/launch/dabai_max_pro.launch.py
+1
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@@ -29,6 +29,7 @@ def generate_launch_description():
DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('diagnostic_period', default_value='0.0'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='25'),
orbbec_camera/launch/femto.launch.py
+1
View File
@@ -26,6 +26,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="640"),
DeclareLaunchArgument("color_height", default_value="480"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/femto_bolt.launch.py
+1
View File
@@ -27,6 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/femto_mega.launch.py
+1
View File
@@ -27,6 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="720"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/gemini2.launch.py
+1
View File
@@ -27,6 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
orbbec_camera/launch/gemini210.launch.py
+1
View File
@@ -27,6 +27,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="0"),
DeclareLaunchArgument("color_height", default_value="0"),
DeclareLaunchArgument("color_fps", default_value="0"),
orbbec_camera/launch/gemini2L.launch.py
+1
View File
@@ -89,6 +89,7 @@ def generate_launch_description():
DeclareLaunchArgument("enable_colored_point_cloud", default_value="false"),
DeclareLaunchArgument("point_cloud_qos", default_value="default"),
DeclareLaunchArgument("connection_delay", default_value="100"),
DeclareLaunchArgument("color_frame_queue_max_frames", default_value="10"),
DeclareLaunchArgument("color_width", default_value="1280"),
DeclareLaunchArgument("color_height", default_value="800"),
DeclareLaunchArgument("color_fps", default_value="30"),
orbbec_camera/launch/gemini345.launch.py
+1
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@@ -87,6 +87,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini345_lg.launch.py
+1
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@@ -88,6 +88,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini435_le.launch.py
+1
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@@ -88,6 +88,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_301_series.launch.py
+3
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@@ -111,6 +111,9 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('left_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('right_color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('ae_reference_stream', default_value='depth'), # depth or color
DeclareLaunchArgument('ae_strategy', default_value='motion'), # default or motion
DeclareLaunchArgument('color_width', default_value='848'),
orbbec_camera/launch/gemini_330_series.launch.py
+1
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@@ -102,6 +102,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_330_series_low_cpu.launch.py
+1
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@@ -90,6 +90,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='false'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),
orbbec_camera/launch/gemini_330_series_sdk_json.launch.py
+2
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@@ -82,6 +82,8 @@ def generate_launch_description():
DeclareLaunchArgument('load_config_json_file_path', default_value=''),
DeclareLaunchArgument('export_config_json_file_path', default_value=''),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_qos', default_value='default'),
DeclareLaunchArgument('color_qos_history', default_value='default'),
orbbec_camera/launch/gemini_intra_process_demo_launch.py
+1
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@@ -64,6 +64,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_colored_point_cloud', default_value='true'),
DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('connection_delay', default_value='10'),
DeclareLaunchArgument('color_frame_queue_max_frames', default_value='10'),
DeclareLaunchArgument('color_width', default_value='0'),
DeclareLaunchArgument('color_height', default_value='0'),
DeclareLaunchArgument('color_fps', default_value='0'),