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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/src/ros_service.cpp
+22
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@@ -159,6 +159,11 @@ void OBCameraNode::setupCameraCtrlServices() {
std::shared_ptr<SetString::Response> response) {
switchIRCameraCallback(request, response);
});
set_ir_long_exposure_srv_ = node_->create_service<SetBool>(
"set_ir_long_exposure", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setIRLongExposureCallback(request, response);
});
}
void OBCameraNode::setExposureCallback(const std::shared_ptr<SetInt32::Request>& request,
@@ -686,4 +691,21 @@ void OBCameraNode::switchIRCameraCallback(const std::shared_ptr<SetString::Reque
response->success = false;
}
}
void OBCameraNode::setIRLongExposureCallback(
const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
try {
device_->setBoolProperty(OB_PROP_IR_LONG_EXPOSURE_BOOL, request->data);
response->success = true;
} catch (const ob::Error& e) {
response->message = e.getMessage();
response->success = false;
} catch (const std::exception& e) {
response->message = e.what();
response->success = false;
} catch (...) {
response->message = "unknown error";
response->success = false;
}
}
} // namespace orbbec_camera