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fixed all launch file error

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This commit is contained in:
Joe Dong
2023-02-17 14:43:55 +08:00
parent 5f600b2445
commit d9ed2b8dc1
23 changed files with 29 additions and 29 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -1
View File
@@ -216,7 +216,7 @@ void OBCameraNode::getParameters() {
param_name = stream_name_[stream_index] + "_fps";
setAndGetNodeParameter(fps_[stream_index], param_name, IMAGE_FPS);
param_name = "enable_" + stream_name_[stream_index];
setAndGetNodeParameter(enable_stream_[stream_index], param_name, true);
setAndGetNodeParameter(enable_stream_[stream_index], param_name, false);
param_name = stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = "camera_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
@@ -303,6 +303,9 @@ void OBCameraNode::setupPublishers() {
point_cloud_qos_profile));
}
for (const auto& stream_index : IMAGE_STREAMS) {
if (!enable_stream_[stream_index]) {
continue;
}
std::string name = stream_name_[stream_index];
std::string topic = name + "/image_raw";
auto image_qos = image_qos_[stream_index];
orbbec_camera/src/ros_service.cpp
+3
View File
@@ -21,6 +21,9 @@ namespace orbbec_camera {
void OBCameraNode::setupCameraCtrlServices() {
using std_srvs::srv::SetBool;
for (auto stream_index : IMAGE_STREAMS) {
if (!enable_stream_[stream_index]) {
continue;
}
auto stream_name = stream_name_[stream_index];
std::string service_name = "get_" + stream_name + "_exposure";
get_exposure_srv_[stream_index] = node_->create_service<GetInt32>(