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feat: add sync IO voltage level configuration and service

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This commit is contained in:
ob-yalian
2026-06-18 18:18:47 +08:00
parent 541575257a
commit dd9c0dcd42
5 changed files with 69 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
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@@ -424,6 +424,8 @@ class OBCameraNode {
std::shared_ptr<SetInt32::Response>& response);
void setDisparitySearchOffsetCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response);
void setSyncIoVoltageLevelCallback(const std::shared_ptr<SetInt32::Request>& request,
std::shared_ptr<SetInt32::Response>& response);
void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void sendSoftwareTriggerCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
@@ -683,6 +685,7 @@ class OBCameraNode {
rclcpp::Service<GetInt32>::SharedPtr get_point_cloud_decimation_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_disparity_range_mode_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_disparity_search_offset_srv_;
rclcpp::Service<SetInt32>::SharedPtr set_sync_io_voltage_level_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_streams_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_streams_enable_srv_;
rclcpp::Service<GetUserCalibParams>::SharedPtr get_user_calib_params_srv_;
@@ -982,6 +985,7 @@ class OBCameraNode {
bool disparity_offset_config_ = false;
int offset_index0_ = -1;
int offset_index1_ = -1;
int sync_io_voltage_level_ = -1;
std::string frame_aggregate_mode_ = "ANY"; // # full_frame, color_frame, ANY or disable