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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/src/ros_service.cpp
+49
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@@ -234,6 +234,55 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetString::Response> response) {
setReadCustomerData(request, response);
});
set_streams_enable_srv_ = node_->create_service<SetBool>(
"set_streams_enable",
[this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setStreamsEnableCallback(request, response);
});
get_streams_enable_srv_ = node_->create_service<GetBool>(
"get_streams_enable",
[this](const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
getStreamsEnableCallback(request, response);
});
}
void OBCameraNode::setStreamsEnableCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request> request,
std::shared_ptr<std_srvs::srv::SetBool::Response> response) {
try {
if (request->data) {
startStreams();
response->success = true;
response->message = "streams started";
} else {
stopStreams();
response->success = true;
response->message = "streams stopped";
}
} catch (const ob::Error& e) {
response->success = false;
response->message = e.getMessage();
} catch (const std::exception& e) {
response->success = false;
response->message = e.what();
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::getStreamsEnableCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::GetBool::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::GetBool::Response> response) {
(void)request;
try {
response->data = pipeline_started_.load();
response->success = true;
} catch (...) {
response->success = false;
response->message = "unknown error";
}
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,