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feat: implement stream status tracking and update device status message structure

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ob-yalian
2026-09-21 15:45:46 +08:00
parent 80f9a24778
commit c1eda5e187
10 changed files with 246 additions and 299 deletions
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orbbec_camera_msgs/msg/DeviceStatus.msg
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std_msgs/Header header
# --- Color stream ---
float64 color_frame_rate_cur
float64 color_frame_rate_avg
float64 color_frame_rate_min
float64 color_frame_rate_max
float64 color_delay_ms_cur
float64 color_delay_ms_avg
float64 color_delay_ms_min
float64 color_delay_ms_max
# --- Left color stream ---
float64 left_color_frame_rate_cur
float64 left_color_frame_rate_avg
float64 left_color_frame_rate_min
float64 left_color_frame_rate_max
float64 left_color_delay_ms_cur
float64 left_color_delay_ms_avg
float64 left_color_delay_ms_min
float64 left_color_delay_ms_max
# --- Right color stream ---
float64 right_color_frame_rate_cur
float64 right_color_frame_rate_avg
float64 right_color_frame_rate_min
float64 right_color_frame_rate_max
float64 right_color_delay_ms_cur
float64 right_color_delay_ms_avg
float64 right_color_delay_ms_min
float64 right_color_delay_ms_max
# --- Depth stream ---
float64 depth_frame_rate_cur
float64 depth_frame_rate_avg
float64 depth_frame_rate_min
float64 depth_frame_rate_max
float64 depth_delay_ms_cur
float64 depth_delay_ms_avg
float64 depth_delay_ms_min
float64 depth_delay_ms_max
# --- Left IR stream ---
float64 left_ir_frame_rate_cur
float64 left_ir_frame_rate_avg
float64 left_ir_frame_rate_min
float64 left_ir_frame_rate_max
float64 left_ir_delay_ms_cur
float64 left_ir_delay_ms_avg
float64 left_ir_delay_ms_min
float64 left_ir_delay_ms_max
# --- Right IR stream ---
float64 right_ir_frame_rate_cur
float64 right_ir_frame_rate_avg
float64 right_ir_frame_rate_min
float64 right_ir_frame_rate_max
float64 right_ir_delay_ms_cur
float64 right_ir_delay_ms_avg
float64 right_ir_delay_ms_min
float64 right_ir_delay_ms_max
# --- Device info ---
bool device_online
string connection_type # e.g. "USB2.0", "USB3.0", "GigE"
# --- Calibration status ---
string connection_type
bool customer_calibration_ready
bool calibration_from_factory
bool calibration_from_launch_param
orbbec_camera_msgs/StreamStatus[] streams
orbbec_camera_msgs/msg/StreamStatus.msg
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string topic_name
bool has_subscribers
float64 publish_rate_hz
float64 delay_ms_avg