add get verion api

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -41,6 +41,7 @@
 #include "orbbec_camera_msgs/msg/extrinsics.hpp"
 #include "orbbec_camera_msgs/msg/metadata.hpp"
 #include "orbbec_camera_msgs/srv/get_int32.hpp"
+#include "orbbec_camera_msgs/srv/get_string.hpp"
 #include "orbbec_camera_msgs/srv/set_int32.hpp"
 
 #include "orbbec_camera/constants.h"
@@ -75,6 +76,7 @@ using GetDeviceInfo = orbbec_camera_msgs::srv::GetDeviceInfo;
 using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
 using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
 using GetInt32 = orbbec_camera_msgs::srv::GetInt32;
+using GetString = orbbec_camera_msgs::srv::GetString;
 
 typedef std::pair<ob_stream_type, int> stream_index_pair;
 
@@ -190,6 +192,10 @@ class OBCameraNode {
                              const std::shared_ptr<GetDeviceInfo::Request>& request,
                              std::shared_ptr<GetDeviceInfo::Response>& response);
 
+  void getApiVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
+                     const std::shared_ptr<GetString::Request>& request,
+                     std::shared_ptr<GetString::Response>& response);
+
   void publishPointCloud(std::shared_ptr<ob::FrameSet> frame_set);
 
   void publishDepthPointCloud(std::shared_ptr<ob::FrameSet> frame_set);
@@ -253,6 +259,7 @@ class OBCameraNode {
   std::map<stream_index_pair, rclcpp::Service<SetInt32>::SharedPtr> set_gain_srv_;
   rclcpp::Service<GetInt32>::SharedPtr get_white_balance_srv_;  // only rgb
   rclcpp::Service<SetInt32>::SharedPtr set_white_balance_srv_;
+  rclcpp::Service<GetString>::SharedPtr get_api_version_srv_;
   std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
       set_auto_exposure_srv_;  // only rgb color
 

orbbec_camera/include/orbbec_camera/utils.h

@@ -40,4 +40,6 @@ orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform& extr
 
 rclcpp::Time frameTimeStampToROSTime(uint64_t ms);
 
+std::string getObSDKVersion();
+
 }  // namespace orbbec_camera

orbbec_camera/src/ros_service.cpp

@@ -12,6 +12,7 @@
 
 #include "orbbec_camera/ob_camera_node.h"
 #include <rclcpp/rclcpp.hpp>
+#include <nlohmann/json.hpp>
 #include <thread>
 
 #include "orbbec_camera/utils.h"
@@ -111,6 +112,12 @@ void OBCameraNode::setupCameraCtrlServices() {
                                 std::shared_ptr<GetDeviceInfo::Response> response) {
         getDeviceInfoCallback(request_header, request, response);
       });
+  get_api_version_srv_ = node_->create_service<GetString>(
+      "get_api_version", [this](const std::shared_ptr<rmw_request_id_t> request_header,
+                                const std::shared_ptr<GetString::Request> request,
+                                std::shared_ptr<GetString::Response> response) {
+        getApiVersion(request_header, request, response);
+      });
 }
 
 void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -405,4 +412,27 @@ void OBCameraNode::getDeviceInfoCallback(const std::shared_ptr<rmw_request_id_t>
     response->message = "unknown error";
   }
 }
+void OBCameraNode::getApiVersion(const std::shared_ptr<rmw_request_id_t>& request_header,
+                                 const std::shared_ptr<GetString::Request>& request,
+                                 std::shared_ptr<GetString::Response>& response) {
+  try {
+    auto device_info = device_->getDeviceInfo();
+    nlohmann::json data;
+    data["firmware_version"] = device_info->firmwareVersion();
+    data["supported_min_sdk_version"] = device_info->supportedMinSdkVersion();
+    data["ros_sdk_version"] = OB_ROS_VERSION_STR;
+    data["ob_sdk_version"] = getObSDKVersion();
+    response->data = data.dump(2);
+    response->success = true;
+  } catch (const ob::Error& e) {
+    response->success = false;
+    response->message = e.getMessage();
+  } catch (const std::exception& e) {
+    response->success = false;
+    response->message = e.what();
+  } catch (...) {
+    response->success = false;
+    response->message = "unknown error";
+  }
+}
 }  // namespace orbbec_camera

orbbec_camera/src/utils.cpp

@@ -139,8 +139,16 @@ orbbec_camera_msgs::msg::Extrinsics obExtrinsicsToMsg(const OBD2CTransform &extr
 rclcpp::Time frameTimeStampToROSTime(uint64_t ms) {
   auto total = static_cast<uint64_t>(ms * 1e6);
   uint64_t sec = total / 1000000000;
-  uint64_t  nano_sec = total % 1000000000;
+  uint64_t nano_sec = total % 1000000000;
   rclcpp::Time stamp(sec, nano_sec);
   return stamp;
 }
+std::string getObSDKVersion() {
+  int major = ob::Version::getMajor();
+  int minor = ob::Version::getMinor();
+  int patch = ob::Version::getPatch();
+  std::string version = std::to_string(major) + std::to_string(minor) + std::to_string(patch);
+  return version;
+}
+
 }  // namespace orbbec_camera

orbbec_camera_msgs/CMakeLists.txt

@@ -21,6 +21,7 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/GetDeviceInfo.srv"
   "srv/GetCameraInfo.srv"
   "srv/GetInt32.srv"
+  "srv/GetString.srv"
   "srv/SetInt32.srv"
   DEPENDENCIES
   sensor_msgs

orbbec_camera_msgs/srv/GetInt32.srv

@@ -1,3 +1,4 @@
 ---
 int32 data
-string message
+bool success
+string message

orbbec_camera_msgs/srv/GetString.srv

@@ -0,0 +1,4 @@
+---
+string data
+bool success
+string message