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Add laser and LDP protection status callbacks and services

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This commit is contained in:
obyalian
2025-08-12 17:31:23 +08:00
parent 863fb0025b
commit d331486bfd
2 changed files with 60 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+8
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@@ -274,6 +274,12 @@ class OBCameraNode {
void getLdpStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLaserStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpProtectionStatusCallback(const std::shared_ptr<GetBool::Request>& request,
std::shared_ptr<GetBool::Response>& response);
void getLdpMeasureDistanceCallback(const std::shared_ptr<GetInt32::Request>& request,
std::shared_ptr<GetInt32::Response>& response);
@@ -417,6 +423,8 @@ class OBCameraNode {
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_protection_status_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;