From f3bf9efa1ab039a5056014bdd03e4cfd7376a600 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Thu, 10 Sep 2026 14:33:05 +0800
Subject: [PATCH] fix: rename floor enable service to flood enable and update
 related callbacks

---
 orbbec_camera/include/orbbec_camera/ob_camera_node.h |  4 ++--
 orbbec_camera/scripts/default_service.yaml           |  2 +-
 orbbec_camera/src/ros_service.cpp                    | 12 ++++++------
 3 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/orbbec_camera/include/orbbec_camera/ob_camera_node.h b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
index 08ed6ab7..e29f73f2 100644
--- a/orbbec_camera/include/orbbec_camera/ob_camera_node.h
+++ b/orbbec_camera/include/orbbec_camera/ob_camera_node.h
@@ -470,7 +470,7 @@ class OBCameraNode {
                               const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
                               std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
 
-  void setFloorEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
+  void setFloodEnableCallback(const std::shared_ptr<rmw_request_id_t>& request_header,
                               const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
                               std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
 
@@ -804,7 +804,7 @@ class OBCameraNode {
   rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_laser_status_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ptp_config_srv_;
   rclcpp::Service<orbbec_camera_msgs::srv::GetBool>::SharedPtr get_ptp_config_srv_;
-  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_floor_enable_srv_;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_flood_enable_srv_;
   rclcpp::Service<SetInt32>::SharedPtr set_fan_work_mode_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr toggle_sensors_srv_;
   rclcpp::Service<GetInt32>::SharedPtr get_lrm_measure_distance_srv_;
diff --git a/orbbec_camera/scripts/default_service.yaml b/orbbec_camera/scripts/default_service.yaml
index fae49b92..ea2256db 100644
--- a/orbbec_camera/scripts/default_service.yaml
+++ b/orbbec_camera/scripts/default_service.yaml
@@ -192,7 +192,7 @@ services:
   - name: /camera/read_customer_data
     type: orbbec_camera_msgs/srv/GetString
 
-  - name: /camera/set_floor_enable
+  - name: /camera/set_flood_enable
     type: std_srvs/srv/SetBool
     request: {data: false}
   - name: /camera/set_fan_work_mode
diff --git a/orbbec_camera/src/ros_service.cpp b/orbbec_camera/src/ros_service.cpp
index 95ee5d86..44042405 100644
--- a/orbbec_camera/src/ros_service.cpp
+++ b/orbbec_camera/src/ros_service.cpp
@@ -217,11 +217,11 @@ void OBCameraNode::setupCameraCtrlServices() {
         });
   }
   if (isPropertyWritable(device_, OB_PROP_FLOOD_BOOL)) {
-    set_floor_enable_srv_ = node_->create_service<SetBool>(
-        "set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
+    set_flood_enable_srv_ = node_->create_service<SetBool>(
+        "set_flood_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
                                    const std::shared_ptr<SetBool::Request> request,
                                    std::shared_ptr<SetBool::Response> response) {
-          setFloorEnableCallback(request_header, request, response);
+          setFloodEnableCallback(request_header, request, response);
         });
   }
   if (isPropertyWritable(device_, OB_PROP_LASER_CONTROL_INT) ||
@@ -1530,15 +1530,15 @@ void OBCameraNode::setFanWorkModeCallback(const std::shared_ptr<SetInt32::Reques
   }
 }
 
-void OBCameraNode::setFloorEnableCallback(
+void OBCameraNode::setFloodEnableCallback(
     const std::shared_ptr<rmw_request_id_t>& request_header,
     const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
     std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
   (void)request_header;
   (void)response;
-  bool floor_enable = request->data;
+  bool flood_enable = request->data;
   try {
-    device_->setBoolProperty(OB_PROP_FLOOD_BOOL, floor_enable);
+    device_->setBoolProperty(OB_PROP_FLOOD_BOOL, flood_enable);
     response->success = true;
   } catch (const ob::Error& e) {
     response->success = false;