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feat: add diagnostic_period launch argument and update OpenNI device PID list

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ob-yalian
2025-11-21 17:04:15 +08:00
parent 3c2bac59d1
commit e599484f3d
2 changed files with 2 additions and 1 deletions
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orbbec_camera/launch/dabai_max_pro.launch.py
+1
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@@ -24,6 +24,7 @@ def generate_launch_description():
DeclareLaunchArgument('cloud_frame_id', default_value=''), DeclareLaunchArgument('cloud_frame_id', default_value=''),
DeclareLaunchArgument('point_cloud_qos', default_value='default'), DeclareLaunchArgument('point_cloud_qos', default_value='default'),
DeclareLaunchArgument('connection_delay', default_value='100'), DeclareLaunchArgument('connection_delay', default_value='100'),
DeclareLaunchArgument('diagnostic_period', default_value='0.0'),
DeclareLaunchArgument('color_width', default_value='640'), DeclareLaunchArgument('color_width', default_value='640'),
DeclareLaunchArgument('color_height', default_value='480'), DeclareLaunchArgument('color_height', default_value='480'),
DeclareLaunchArgument('color_fps', default_value='25'), DeclareLaunchArgument('color_fps', default_value='25'),
orbbec_camera/src/utils.cpp
+1 -1
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@@ -476,7 +476,7 @@ bool isOpenNIDevice(int pid) {
0x060f, 0x0610, 0x0613, 0x0614, 0x0616, 0x0617, 0x0618, 0x061b, 0x062b, 0x062c, 0x062d, 0x060f, 0x0610, 0x0613, 0x0614, 0x0616, 0x0617, 0x0618, 0x061b, 0x062b, 0x062c, 0x062d,
0x0632, 0x0633, 0x0634, 0x0635, 0x0636, 0x0637, 0x0638, 0x0639, 0x063a, 0x0650, 0x0651, 0x0632, 0x0633, 0x0634, 0x0635, 0x0636, 0x0637, 0x0638, 0x0639, 0x063a, 0x0650, 0x0651,
0x0654, 0x0655, 0x0656, 0x0657, 0x0658, 0x0659, 0x065a, 0x065b, 0x065c, 0x065d, 0x0698, 0x0654, 0x0655, 0x0656, 0x0657, 0x0658, 0x0659, 0x065a, 0x065b, 0x065c, 0x065d, 0x0698,
0x0699, 0x069a, 0x055c, 0x065e, 0x069a, 0x069f, 0x06a0}; 0x0699, 0x069a, 0x055c, 0x065e, 0x069a, 0x069f, 0x06a0, 0x069e};
return std::any_of(OPENNI_DEVICE_PIDS.begin(), OPENNI_DEVICE_PIDS.end(), return std::any_of(OPENNI_DEVICE_PIDS.begin(), OPENNI_DEVICE_PIDS.end(),
[pid](int pid_openni) { return pid == pid_openni; }); [pid](int pid_openni) { return pid == pid_openni; });