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Add services to enable and get stream status in OBCameraNode

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This commit is contained in:
xiexun
2025-09-02 17:06:59 +08:00
parent 8e8fb156f9
commit ce52dbd997
2 changed files with 57 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
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@@ -255,6 +255,12 @@ class OBCameraNode {
std::optional<OBCameraParam> getColorCameraParam();
void setStreamsEnableCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response);
void getStreamsEnableCallback(const std::shared_ptr<orbbec_camera_msgs::srv::GetBool::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::GetBool::Response> response);
void getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response,
const stream_index_pair& stream_index);
@@ -533,6 +539,8 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_;
rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_streams_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_streams_enable_srv_;
bool enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false;