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Add setIRLongExposureCallback to OBCameraNode

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This commit is contained in:
Joe Dong
2024-03-12 16:15:21 +08:00
parent f0a6b03fa8
commit f3f5cb8df9
2 changed files with 26 additions and 0 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
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@@ -262,6 +262,9 @@ class OBCameraNode {
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void setIRLongExposureCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -360,6 +363,7 @@ class OBCameraNode {
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_ir_long_exposure_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;