feat: add bag record and playback support

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -164,7 +164,8 @@ typedef struct {
 class OBCameraNode {
  public:
   OBCameraNode(rclcpp::Node* node, std::shared_ptr<ob::Device> device,
-               std::shared_ptr<Parameters> parameters, bool use_intra_process = false);
+               std::shared_ptr<Parameters> parameters, bool use_intra_process = false,
+               bool is_playback_device = false);
 
   template <class T>
   void setAndGetNodeParameter(
@@ -932,6 +933,11 @@ class OBCameraNode {
   bool hw_d2c_color_undistortion_configured_ = false;
   bool has_first_color_frame_ = false;
   bool use_intra_process_ = false;
+  // True when device_ is an ob::PlaybackDevice. Real-device-only hardware
+  // tuning (heartbeat, USB3 retry, laser, sync config, etc.) is skipped in
+  // setupDevices() for playback devices since those SDK components aren't
+  // registered for a recorded .bag file.
+  bool is_playback_device_ = false;
   std::string cloud_frame_id_;
   std::mutex depth_filter_mutex_;
   std::vector<std::shared_ptr<ob::Filter>> depth_filter_list_;

orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h

@@ -31,6 +31,7 @@
 #include <std_srvs/srv/empty.hpp>
 #include <backward_ros/backward.hpp>
 #include "libobsensor/hpp/Device.hpp"
+#include "libobsensor/hpp/RecordPlayback.hpp"
 
 namespace orbbec_camera {
 
@@ -57,6 +58,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
 
   void initializeDevice(const std::shared_ptr<ob::Device>& device);
 
+  void initializeBagPlayback();
+
   void startDevice(const std::shared_ptr<ob::DeviceList>& list);
 
   void connectNetDevice(const std::string& net_device_ip, int net_device_port);
@@ -155,5 +158,13 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::string force_ip_gateway_;      // e.g. "192.168.1.1"
   std::atomic<bool> force_ip_success_{false};
   std::string device_type_;
+  // bag recording
+  std::string bag_record_filename_;
+  bool bag_record_compression_ = true;
+  std::shared_ptr<ob::RecordDevice> record_device_ = nullptr;
+  // bag playback
+  std::string bag_filename_;
+  bool bag_loop_ = false;
+  std::shared_ptr<ob::PlaybackDevice> playback_device_ = nullptr;
 };
 }  // namespace orbbec_camera