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# All available service for camera control
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> The name of the following service already expresses its function.
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> However, it should be noted that the corresponding `set_[ir|depth|color]*`
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> and `get[ir|right_ir|left_ir|depth|color]*` **services are only available if you set** `enable[ir|depth|color]`
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> to `true` in the stream that corresponds to the argument of the launch file.
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* `/camera/get_color_exposure`
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```bash
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ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/get_color_gain`
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```bash
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ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/set_color_auto_exposure`
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```bash
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ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_color_exposure`
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```bash
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ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'
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```
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* `/camera/set_color_gain`
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```bash
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ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
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```
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* `/camera/set_color_ae_roi`
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```bash
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#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
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ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'
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```
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* `/camera/set_color_mirror`
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```bash
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#v2 version is not supported yet
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ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/toggle_color`
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```bash
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ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/get_depth_exposure`
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```bash
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ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/get_depth_gain`
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```bash
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ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/set_depth_auto_exposure`
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```bash
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ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_depth_exposure`
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```bash
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ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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```
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* `/camera/set_depth_gain`
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```bash
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#v2 version is not supported yet
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ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
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```
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* `/camera/set_depth_ae_roi`
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```bash
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#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
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ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'
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```
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* `/camera/set_depth_mirror`
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```bash
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ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/toggle_depth`
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```bash
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ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/get_ir_exposure`
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```bash
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ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/get_ir_gain`
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```bash
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ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/set_ir_long_exposure`
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```bash
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ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_ir_auto_exposure`
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```bash
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ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_ir_exposure`
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```bash
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ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'
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```
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* `/camera/set_ir_gain`
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```bash
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ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'
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```
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* `/camera/set_ir_mirror`
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```bash
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#v2 version is not supported yet
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ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/switch_ir`
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```bash
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ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'
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```
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* `/camera/toggle_ir`
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```bash
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ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/get_auto_white_balance`
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```bash
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ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/set_auto_white_balance`
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```bash
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ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/get_white_balance`
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```bash
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ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/set_white_balance`
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```bash
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ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'
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```
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* `/camera/set_laser_enable`
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```bash
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ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_ldp_enable`
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```bash
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ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/get_ldp_status`
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```bash
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ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'
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```
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* `/camera/get_lrm_measure_distance`
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```bash
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ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'
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```
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* `/camera/get_device_info`
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```bash
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ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo
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```
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* `/camera/get_sdk_version`
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```bash
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ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString
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```
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* `/camera/reboot_device`
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```bash
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ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'
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```
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* `/camera/save_images`
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```bash
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ros2 service call /camera/save_images std_srvs/srv/Empty '{}'
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```
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* `/camera/save_point_cloud`
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```bash
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ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'
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```
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* `/camera/set_fan_work_mode`
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```bash
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ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
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```
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* `/camera/set_filter`
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```bash
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#filter_name is the filter name,filter_enable is whether to enable the filter switch,and filter_param is the filter parameter
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#set DecimationFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter,filter_enable: false,filter_param: [5]}'
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#set SpatialAdvancedFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter,filter_enable: true,filter_param: [0.5,160,1,8]}'
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#set SequenceIdFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [1]}'
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#set ThresholdFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [0,15999]}'
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#set NoiseRemovalFilter
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter,filter_enable: true,filter_param: [256,80]}'
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#set HardwareNoiseRemoval
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ros2 service call /camera/set_filter orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval,filter_enable: true,filter_param: []}'
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```
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* `/camera/set_floor_enable`
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```bash
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ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_reset_timestamp`
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```bash
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#Only available when time_domain param is set to device
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ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'
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```
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* `/camera/set_sync_interleaverlaser`
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```bash
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#Only available if interleave_ae_mode param is set to laser and interleave_frame_enable param is set to true
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ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'
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```
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* `/camera/set_sync_hosttime`
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```
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ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
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```
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