feat: add runtime stream profile service

orbbec_camera_msgs/CMakeLists.txt

@@ -25,6 +25,7 @@ rosidl_generate_interfaces(
     "msg/Metadata.msg"
     "msg/IMUInfo.msg"
     "msg/RGBD.msg"
+    "msg/StreamProfile.msg"
     "srv/GetBool.srv"
     "srv/GetDeviceConfig.srv"
     "srv/GetDeviceInfo.srv"
@@ -38,6 +39,7 @@ rosidl_generate_interfaces(
     "srv/GetUserCalibParams.srv"
     "srv/SetUserCalibParams.srv"
     "srv/SetBagRecording.srv"
+    "srv/SetStreamProfile.srv"
     DEPENDENCIES
     sensor_msgs
     std_msgs

orbbec_camera_msgs/msg/StreamProfile.msg

@@ -0,0 +1,5 @@
+string stream_name
+int32 width
+int32 height
+int32 fps
+string format

orbbec_camera_msgs/srv/SetStreamProfile.srv

@@ -0,0 +1,4 @@
+StreamProfile[] profiles
+---
+bool success
+string message