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feat: add GetDeviceConfig service and related functionality

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ob-yalian
2026-06-18 16:11:16 +08:00
parent 84b0f60a45
commit e20b90fe98
4 changed files with 269 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6
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@@ -51,6 +51,7 @@
#include "orbbec_camera_msgs/msg/depth_filter_param.hpp"
#include "orbbec_camera_msgs/msg/depth_filter_state.hpp"
#include "orbbec_camera_msgs/msg/depth_filters_status.hpp"
#include "orbbec_camera_msgs/srv/get_device_config.hpp"
#include "orbbec_camera_msgs/srv/get_device_info.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#include "orbbec_camera_msgs/msg/metadata.hpp"
@@ -110,6 +111,7 @@
#define DEVICE_PATH "/dev/camsync"
namespace orbbec_camera {
using GetDeviceConfig = orbbec_camera_msgs::srv::GetDeviceConfig;
using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
@@ -378,6 +380,9 @@ class OBCameraNode {
void getDeviceInfoCallback(const std::shared_ptr<GetDeviceInfo::Request>& request,
std::shared_ptr<GetDeviceInfo::Response>& response);
void getDeviceConfigCallback(const std::shared_ptr<GetDeviceConfig::Request>& request,
std::shared_ptr<GetDeviceConfig::Response>& response);
void getSDKVersion(const std::shared_ptr<GetString::Request>& request,
std::shared_ptr<GetString::Response>& response);
@@ -658,6 +663,7 @@ class OBCameraNode {
set_auto_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<SetArrays>::SharedPtr> set_ae_roi_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;
rclcpp::Service<GetDeviceConfig>::SharedPtr get_device_config_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_laser_enable_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ldp_enable_srv_;
rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ldp_status_srv_;