use bash echo latch messsage

orbbec_camera/scripts/echo_extrintisics.py

@@ -1,33 +0,0 @@
-from orbbec_camera_msgs.msg import Extrinsics
-from rclpy.node import Node
-from rclpy.qos import qos_profile_system_default
-import rclpy
-
-
-class TestNode(Node):
-    def __init__(self):
-        super().__init__("test_node")
-        self.subscription = self.create_subscription(
-            Extrinsics, "/camera/extrinsics", self.callback, qos_profile_system_default
-        )
-
-    def callback(self, msg: Extrinsics):
-        self.get_logger().info("=====rotation====")
-        for r in msg.rotation:
-            print("%s ", r)
-
-        self.get_logger().info("=====translation====")
-        for t in msg.translation:
-            print("%s ", t)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    test_node = TestNode()
-    rclpy.spin(test_node)
-    test_node.destry_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

orbbec_camera/scripts/echo_extrintisics.sh

@@ -0,0 +1,4 @@
+#!/usr/bin/env bash
+source /opt/ros/galactic/setup.bash
+
+ros2 topic echo --qos-durability=transient_local /camera/extrinsic/depth_to_color  --qos-profile=services_default

orbbec_camera/scripts/set_camera_exposure.py

@@ -1,49 +0,0 @@
-#!/usr/bin/python3
-
-from cgi import test
-import sys
-from urllib import response
-from orbbec_camera_msgs.srv import SetInt32
-from rclpy.node import Node
-from rclpy.qos import qos_profile_system_default
-import rclpy
-
-
-class TestNode(Node):
-    def __init__(self):
-        super().__init__("test_node")
-        sensor_name = str(sys.argv[1])
-        assert not sensor_name is None
-        self.cli = self.create_client(
-            SetInt32, "/camera/set/" + sensor_name + "/exposure"
-        )
-        while not self.cli.wait_for_service(timeout_sec=1.0):
-            self.get_logger().info("service not available, waiting again...")
-        self.req = SetInt32.Request()
-
-    def send_request(self):
-        self.req.data = int(sys.argv[2])
-        self.future = self.cli.call_async(self.req)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    test_node = TestNode()
-    test_node.send_request()
-    while rclpy.ok():
-        rclpy.spin_once(test_node)
-        if test_node.future.done():
-            try:
-                response = test_node.future.result()
-            except Exception as e:
-                test_node.get_logger().info("Service call failed %r" % (e,))
-        else:
-            test_node.get_logger().info("set camera exposure success")
-            break
-
-    test_node.destry_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()

orbbec_camera/scripts/set_camera_gain.py

@@ -1,49 +0,0 @@
-#!/usr/bin/python3
-
-from cgi import test
-import sys
-from urllib import response
-from orbbec_camera_msgs.srv import SetInt32
-from rclpy.node import Node
-from rclpy.qos import qos_profile_system_default
-import rclpy
-
-
-class TestNode(Node):
-    def __init__(self):
-        super().__init__("test_node")
-        sensor_name = str(sys.argv[1])
-        assert not sensor_name is None
-        self.cli = self.create_client(
-            SetInt32, "/camera/set/" + sensor_name + "/gain"
-        )
-        while not self.cli.wait_for_service(timeout_sec=1.0):
-            self.get_logger().info("service not available, waiting again...")
-        self.req = SetInt32.Request()
-
-    def send_request(self):
-        self.req.data = int(sys.argv[2])
-        self.future = self.cli.call_async(self.req)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    test_node = TestNode()
-    test_node.send_request()
-    while rclpy.ok():
-        rclpy.spin_once(test_node)
-        if test_node.future.done():
-            try:
-                response = test_node.future.result()
-            except Exception as e:
-                test_node.get_logger().info("Service call failed %r" % (e,))
-        else:
-            test_node.get_logger().info("set camera gain success")
-            break
-
-    test_node.destry_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()