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feat: add bag recording control service

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slz
2026-06-17 17:47:28 +08:00
parent 8b261fce77
commit e55ad2a1d1
4 changed files with 78 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+7
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@@ -32,6 +32,7 @@
#include <backward_ros/backward.hpp>
#include "libobsensor/hpp/Device.hpp"
#include "libobsensor/hpp/RecordPlayback.hpp"
#include "orbbec_camera_msgs/srv/set_bag_recording.hpp"
namespace orbbec_camera {
@@ -80,6 +81,10 @@ class OBCameraNodeDriver : public rclcpp::Node {
void rebootDeviceCallback(const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response);
void setBagRecordingCallback(
const std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Request> request,
std::shared_ptr<orbbec_camera_msgs::srv::SetBagRecording::Response> response);
void presetUpdateCallback(bool firstCall, OBFwUpdateState state, const char* message,
uint8_t percent);
void updatePresetFirmware(std::string path);
@@ -139,6 +144,8 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::string timestamp_clock_type_str_;
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
rclcpp::Service<orbbec_camera_msgs::srv::SetBagRecording>::SharedPtr set_bag_recording_srv_ =
nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
std::string extension_path_;
static backward::SignalHandling sh; // for stack trace