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Fix the bug that Gemini 2 turned off LDP and caused the laser to turn off

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This commit is contained in:
jj
2025-02-27 15:40:41 +08:00
parent 2320ff1ad3
commit c2c1bb3d6d
2 changed files with 8 additions and 4 deletions
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orbbec_camera/src/ros_service.cpp
+8 -3
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@@ -507,9 +507,14 @@ void OBCameraNode::setLrmEnableCallback(
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, laser_enable);
} else if (device_->isPropertySupported(OB_PROP_LASER_BOOL, OB_PERMISSION_READ_WRITE)) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_enable);
device_->setIntProperty(OB_PROP_LASER_BOOL, laser_enable);
if (!lrm_enable) {
auto laser_enable = device_->getIntProperty(OB_PROP_LASER_BOOL);
device_->setBoolProperty(OB_PROP_LDP_BOOL, lrm_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);
}
}
response->success = true;
} catch (const ob::Error& e) {