From efd2e635583c64b89f7f7fe13955e998ca21fba5 Mon Sep 17 00:00:00 2001
From: datean <datean@orbbec.com>
Date: Wed, 25 Dec 2024 14:50:27 +0800
Subject: [PATCH] update launch.py

---
 .../launch/orbbec_perceptor.launch.py           | 12 ++++++------
 orbbec_camera/config/camera_params.yaml         | 17 ++++-------------
 2 files changed, 10 insertions(+), 19 deletions(-)

diff --git a/isaac_orbbec_launch/launch/orbbec_perceptor.launch.py b/isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
index 9336c345..4f14ed6d 100644
--- a/isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
+++ b/isaac_orbbec_launch/launch/orbbec_perceptor.launch.py
@@ -18,7 +18,7 @@ def generate_launch_description():
 
     default_perceptor_config_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'orbbec_perceptor_detached.yaml')
     perceptor_odom_rviz_file = os.path.join(isaac_orbbec_launch_dir, 'param', 'perceptor_odom.rviz')
-    default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'matrices_SN1423724335594.yaml')
+    default_dev_matrices_file = os.path.join(isaac_orbbec_launch_dir, 'config', 'dev_matrices_SN1423724335594.yaml')
 
     perceptor_config_file_arg = DeclareLaunchArgument(
         'perceptor_config_file', default_value=default_perceptor_config_file,
@@ -69,7 +69,7 @@ def generate_launch_description():
 
     perceptor_launch = IncludeLaunchDescription(
         PythonLaunchDescriptionSource([os.path.join(
-            perceptor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
+            perceptenable_point_cloudor_bringup_dir, 'launch', 'rgbd_perceptor.launch.py')]),
         launch_arguments={'config_file': LaunchConfiguration("perceptor_config_file"),
                           'attach_to_shared_component_container': 'True',
                           'component_container_name': component_container_name_arg}.items())
@@ -101,10 +101,10 @@ def generate_launch_description():
         from_bag_arg,
         bag_path_arg,
         shared_orbbec_container,
-        # orbbec_launch,
+        orbbec_launch,
         base_static_transforms_publisher,
-        # perceptor_launch,
-        # bag_play,
-        # rviz2_node,
+        perceptor_launch,
+        bag_play,
+        rviz2_node,
       ]
     )
diff --git a/orbbec_camera/config/camera_params.yaml b/orbbec_camera/config/camera_params.yaml
index 7a614316..aca7fa99 100644
--- a/orbbec_camera/config/camera_params.yaml
+++ b/orbbec_camera/config/camera_params.yaml
@@ -1,20 +1,13 @@
 # common params
 depth_registration: false
-depth_registration: false
-enable_d2c_viewer: false
-enable_point_cloud: false
+enable_point_cloud: true
 enable_colored_point_cloud: false
 device_preset: "High Accuracy"
-laser_on_off_mode: 0 # 0: off, 1: on-off, 1: off-on
 time_domain: "global" # global, device, system
-enable_sync_host_time: false
+enable_sync_host_time: true
 frames_per_trigger: 1
-
-# When 3D reconstruction mode is enabled:
-# - The laser will switch to on-off mode
-# - IR images without the laser will be used for SLAM localization
-# - Depth images with the laser will be used because they provide better depth quality
-enable_3d_reconstruction_mode: false
+log_level: "warning"
+enable_laser: false
 
 # color params
 enable_color: true
@@ -54,5 +47,3 @@ right_ir_height: 360
 right_ir_fps: 60
 right_ir_format: "Y8"
 right_ir_qos: "sensor_data"
-
-