i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-10 22:49:51 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add services to enable and get stream status in OBCameraNode

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
View File
@@ -255,6 +255,12 @@ class OBCameraNode {
std::optional<OBCameraParam> getColorCameraParam(); 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, void getExposureCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response, std::shared_ptr<GetInt32::Response>& response,
const stream_index_pair& stream_index); 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 set_sync_host_time_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_; rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_;
rclcpp::Service<SetFilter>::SharedPtr set_filter_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 enable_sync_output_accel_gyro_ = false;
bool publish_tf_ = false; bool publish_tf_ = false;
orbbec_camera/src/ros_service.cpp
+49
View File
@@ -234,6 +234,55 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetString::Response> response) { std::shared_ptr<SetString::Response> response) {
setReadCustomerData(request, 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, void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,