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feat: add monitor poll interval parameter

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This commit is contained in:
ob-yalian
2026-08-25 13:52:18 +08:00
parent 1f73ad1156
commit e12897f8f6
5 changed files with 25 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+21
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@@ -1042,6 +1042,17 @@ void OBCameraNode::setupDevices() {
OB_PROP_USB_SYNC_VOLTAGE_LEVEL_INT));
}
}
if (monitor_poll_interval_sec_ != -1) {
try {
const auto interval_ms = static_cast<uint32_t>(monitor_poll_interval_sec_) * 1000U;
device_->setMonitorPollInterval(interval_ms);
RCLCPP_INFO_STREAM(
logger_, "Current monitor poll interval: " << device_->getMonitorPollInterval() << " ms");
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Skipping monitor poll interval configuration: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
}
if (should_apply_launch_config("enable_heartbeat") &&
device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
@@ -4763,6 +4774,16 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_firmware_log_, "enable_firmware_log", false);
setAndGetNodeParameter<int>(monitor_poll_interval_sec_, "monitor_poll_interval_sec", -1);
if (monitor_poll_interval_sec_ != -1 &&
(monitor_poll_interval_sec_ < 1 || monitor_poll_interval_sec_ > 10)) {
const auto requested_monitor_poll_interval_sec = monitor_poll_interval_sec_;
monitor_poll_interval_sec_ = std::clamp(monitor_poll_interval_sec_, 1, 10);
RCLCPP_WARN_STREAM(logger_, "monitor_poll_interval_sec value "
<< requested_monitor_poll_interval_sec
<< " is out of range [1, 10], clamped to "
<< monitor_poll_interval_sec_);
}
setAndGetNodeParameter<bool>(enable_fps_boost_, "enable_fps_boost", false);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
time_domain_ = normalizeClosedSetParameterValue(logger_, "time_domain", time_domain_,