feat: add firmware log enabling option to launch files and nodes

orbbec_camera/examples/benchmark/gemini_330_series_benchmark.launch.py

@@ -227,6 +227,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/examples/gmsl_camera/gemini_330_gmsl.launch.py

@@ -227,6 +227,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/examples/lower_cpu_usage/gemini_330_series_lower_cpu_usage.launch.py

@@ -171,6 +171,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_330_series_synced_verify.launch.py

@@ -227,6 +227,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/examples/multi_camera_synced_verification_tool/gemini_synced_verify.launch.py

@@ -151,6 +151,7 @@ def generate_launch_description():
         DeclareLaunchArgument('retry_on_usb3_detection_failure', default_value='false'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('time_domain', default_value='global'),
         DeclareLaunchArgument('use_intra_process_comms', default_value='false'),
         DeclareLaunchArgument('attach_component_container_enable', default_value='false'),

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -856,6 +856,7 @@ class OBCameraNode {
   bool diagnostic_running_ = false;
   std::chrono::milliseconds software_trigger_period_{33};
   bool enable_heartbeat_ = false;
+  bool enable_firmware_log_ = false;
   bool enable_color_undistortion_ = false;
   std::shared_ptr<image_publisher> color_undistortion_publisher_;
   bool has_first_color_frame_ = false;

orbbec_camera/include/orbbec_camera/ob_lidar_node.h

@@ -252,6 +252,7 @@ class OBLidarNode {
   std::string time_domain_ = "device";  // device, system, global
   bool enable_scan_to_point_ = false;
   bool enable_heartbeat_ = false;
+  bool enable_firmware_log_ = false;
   bool use_intra_process_ = false;
 
   // lidar

orbbec_camera/launch/astra.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
 
         DeclareLaunchArgument('color_mirror', default_value='false'),
         DeclareLaunchArgument('color_rotation', default_value='-1'),

orbbec_camera/launch/astra2.launch.py

@@ -103,6 +103,7 @@ def generate_launch_description():
         DeclareLaunchArgument("align_mode", default_value="HW"),
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
     ]
 

orbbec_camera/launch/dabai_a.launch.py

@@ -209,6 +209,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
 
         #color image transport plugins
         DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),

orbbec_camera/launch/dabai_al.launch.py

@@ -211,6 +211,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
 
         #color image transport plugins
         DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('industry_mode', default_value=''),
     ]
 

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -77,6 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_mode', default_value='HW'),
         DeclareLaunchArgument('laser_energy_level', default_value='-1'),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto.launch.py

@@ -81,6 +81,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="device"),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
     ]

orbbec_camera/launch/femto_bolt.launch.py

@@ -109,6 +109,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
     ]

orbbec_camera/launch/femto_mega.launch.py

@@ -115,6 +115,7 @@ def generate_launch_description():
         DeclareLaunchArgument('align_target_stream', default_value='COLOR'),# COLOR or DEPTH
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
         DeclareLaunchArgument('device_preset', default_value='Custom'),
 

orbbec_camera/launch/gemini2.launch.py

@@ -129,6 +129,7 @@ def generate_launch_description():
         DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
     ]
 

orbbec_camera/launch/gemini210.launch.py

@@ -129,6 +129,7 @@ def generate_launch_description():
         DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
     ]
 

orbbec_camera/launch/gemini2L.launch.py

@@ -118,6 +118,7 @@ def generate_launch_description():
         DeclareLaunchArgument("retry_on_usb3_detection_failure", default_value="false"),
         DeclareLaunchArgument("laser_energy_level", default_value="-1"),
         DeclareLaunchArgument("enable_heartbeat", default_value="false"),
+        DeclareLaunchArgument("enable_firmware_log", default_value="false"),
         DeclareLaunchArgument("enable_noise_removal_filter", default_value="false"),
         DeclareLaunchArgument("time_domain", default_value="global"),
     ]

orbbec_camera/launch/gemini305.launch.py

@@ -276,6 +276,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),
         DeclareLaunchArgument('disparity_search_offset', default_value='-1'),
         DeclareLaunchArgument('disparity_offset_config', default_value='false'),

orbbec_camera/launch/gemini345.launch.py

@@ -208,6 +208,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
 
         #color image transport plugins
         DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),

orbbec_camera/launch/gemini345_lg.launch.py

@@ -211,6 +211,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
 
         #color image transport plugins
         DeclareLaunchArgument('color.image_raw.enable_pub_plugins',default_value='["image_transport/compressed", "image_transport/raw", "image_transport/theora"]'),

orbbec_camera/launch/gemini435_le.launch.py

@@ -243,6 +243,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/launch/gemini_330_series.launch.py

@@ -259,6 +259,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/launch/gemini_330_series_low_cpu.launch.py

@@ -255,6 +255,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('gmsl_trigger_fps', default_value='3000'),
         DeclareLaunchArgument('enable_gmsl_trigger', default_value='false'),
         DeclareLaunchArgument('disparity_range_mode', default_value='-1'),

orbbec_camera/launch/gemini_intra_process_demo_launch.py

@@ -164,6 +164,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_color_undistortion', default_value='false'),
         DeclareLaunchArgument('config_file_path', default_value=''),
         DeclareLaunchArgument('enable_heartbeat', default_value='false'),
+        DeclareLaunchArgument('enable_firmware_log', default_value='false'),
         DeclareLaunchArgument('topic_type', default_value='points'),
         DeclareLaunchArgument('topic_name', default_value='/camera/depth_registered/points'),
         DeclareLaunchArgument('use_intra_process_comms', default_value='true'),

orbbec_camera/launch/lidar.launch.py

@@ -184,7 +184,12 @@ def generate_launch_description():
         DeclareLaunchArgument(
             'enable_heartbeat',
             default_value='false',
-            description='Send heartbeat to device. Enable when hardware logging/online monitoring is needed.'
+            description='Send heartbeat to device.'
+        ),
+        DeclareLaunchArgument(
+            'enable_firmware_log',
+            default_value='false',
+            description='Enable device firmware log output.'
         ),
         DeclareLaunchArgument(
             'enable_imu',

orbbec_camera/src/ob_camera_node.cpp

@@ -364,6 +364,9 @@ void OBCameraNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
   }
+  RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
+                                  << (enable_firmware_log_ ? "ON" : "OFF"));
+  device_->enableFirmwareLog(enable_firmware_log_);
   if (max_depth_limit_ > 0 &&
       device_->isPropertySupported(OB_PROP_MAX_DEPTH_INT, OB_PERMISSION_READ_WRITE)) {
     RCLCPP_INFO_STREAM(logger_, "Setting max depth limit to " << max_depth_limit_);
@@ -2194,6 +2197,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(min_depth_limit_, "min_depth_limit", 0);
   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<bool>(enable_color_undistortion_, "enable_color_undistortion", false);
   setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
   setAndGetNodeParameter<std::string>(exposure_range_mode_, "exposure_range_mode", "default");

orbbec_camera/src/ob_lidar_node.cpp

@@ -131,6 +131,7 @@ void OBLidarNode::getParameters() {
   setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
   setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
   setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
+  setAndGetNodeParameter<bool>(enable_firmware_log_, "enable_firmware_log", false);
   setAndGetNodeParameter<std::string>(echo_mode_, "echo_mode", "");
   setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
   setAndGetNodeParameter<float>(min_angle_, "min_angle", -135.0);
@@ -206,6 +207,9 @@ void OBLidarNode::setupDevices() {
     RCLCPP_INFO_STREAM(logger_, "Setting heartbeat to " << (enable_heartbeat_ ? "ON" : "OFF"));
     TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
   }
+  RCLCPP_INFO_STREAM(logger_, "Setting firmware log to "
+                                  << (enable_firmware_log_ ? "ON" : "OFF"));
+  device_->enableFirmwareLog(enable_firmware_log_);
   if (!echo_mode_.empty() &&
       device_->isPropertySupported(OB_PROP_LIDAR_SPECIFIC_MODE_INT, OB_PERMISSION_READ_WRITE)) {
     if (echo_mode_ == "Last Echo") {