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update sync mode default to standalone

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This commit is contained in:
Joe Dong
2024-05-27 10:42:09 +08:00
parent 2684ee44c1
commit ce362679c5
9 changed files with 12 additions and 11 deletions
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orbbec_camera/launch/dabai_dcl.py
+2 -2
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@@ -74,7 +74,7 @@ def generate_launch_description():
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
@@ -82,7 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
]
orbbec_camera/launch/femto_bolt.launch.py
+1 -1
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@@ -69,7 +69,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
orbbec_camera/launch/femto_mega.launch.py
+1 -1
View File
@@ -75,7 +75,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
orbbec_camera/launch/gemini2.launch.py
+1 -1
View File
@@ -74,7 +74,7 @@ def generate_launch_description():
# Binned Sparse Default
# Obstacle Avoidance
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
orbbec_camera/launch/gemini2L.launch.py
+2 -2
View File
@@ -74,7 +74,7 @@ def generate_launch_description():
# Unbinned Sparse Default
# Binned Sparse Default
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
@@ -82,7 +82,7 @@ def generate_launch_description():
DeclareLaunchArgument('trigger_out_enabled', default_value='false'),
DeclareLaunchArgument('enable_frame_sync', default_value='true'),
DeclareLaunchArgument('ordered_pc', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='false'),
DeclareLaunchArgument('use_hardware_time', default_value='true'),
DeclareLaunchArgument('enable_depth_scale', default_value='true'),
DeclareLaunchArgument('align_mode', default_value='HW'),
DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
orbbec_camera/launch/gemini2VL.launch.py
+1 -1
View File
@@ -67,7 +67,7 @@ def generate_launch_description():
DeclareLaunchArgument('enable_soft_filter', default_value='true'),
DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
orbbec_camera/launch/gemini2XL.launch.py
+1 -1
View File
@@ -83,7 +83,7 @@ def generate_launch_description():
# Binned Sparse Default
# Dimensioning
DeclareLaunchArgument('depth_work_mode', default_value=''),
DeclareLaunchArgument('sync_mode', default_value='free_run'),
DeclareLaunchArgument('sync_mode', default_value='standalone'),
DeclareLaunchArgument('depth_delay_us', default_value='0'),
DeclareLaunchArgument('color_delay_us', default_value='0'),
DeclareLaunchArgument('trigger2image_delay_us', default_value='0'),
orbbec_camera/launch/multi_camera.launch.py
+2 -2
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@@ -18,7 +18,7 @@ def generate_launch_description():
'camera_name': 'camera_01',
'usb_port': '2-1.1',
'device_num': '2',
'sync_mode': 'free_run'
'sync_mode': 'standalone'
}.items()
)
@@ -30,7 +30,7 @@ def generate_launch_description():
'camera_name': 'camera_02',
'usb_port': '2-1.2.1',
'device_num': '2',
'sync_mode': 'free_run'
'sync_mode': 'standalone'
}.items()
)
orbbec_camera/src/ob_camera_node.cpp
+1
View File
@@ -776,6 +776,7 @@ void OBCameraNode::getParameters() {
use_hardware_time_ = true;
}
}
RCLCPP_INFO_STREAM(logger_, "use_hardware_time: " << (use_hardware_time_ ? "true" : "false"));
for (auto stream_index : IMAGE_STREAMS) {
depth_aligned_frame_id_[stream_index] = optical_frame_id_[COLOR];