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add laster switch

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This commit is contained in:
Joe Dong
2024-04-11 09:36:51 +08:00
parent 3248dac0a2
commit ed77be55bb
3 changed files with 6 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -1
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@@ -143,6 +143,7 @@ void OBCameraNode::setupDevices() {
}
}
try {
device_->setIntProperty(OB_PROP_LASER_CONTROL_INT, enable_laser_);
device_->loadPreset(device_preset_.c_str());
auto depth_sensor = device_->getSensor(OB_SENSOR_DEPTH);
// set depth sensor to filter
@@ -696,6 +697,7 @@ void OBCameraNode::getParameters() {
"FILL_TOP");
setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
setAndGetNodeParameter<double>(diagnostic_period_, "diagnostic_period", 1.0);
setAndGetNodeParameter<bool>(enable_laser_, "enable_laser", false);
}
void OBCameraNode::setupTopics() {
@@ -1466,7 +1468,7 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
setDefaultIMUMessage(imu_msg);
imu_msg.header.frame_id = imu_optical_frame_id_;
auto timestamp = fromUsToROSTime(accelframe->timeStampUs());
auto timestamp = fromUsToROSTime(accelframe->globalTimeStampUs());
imu_msg.header.stamp = timestamp;
auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyroData = gyro_frame->value();