chore: Update time sync interface

orbbec_camera/config/camera_params.yaml

@@ -33,12 +33,14 @@ ir_exposure: 5000 # 5ms
 ir_gain: 40
 
 #left ir params
+enable_left_ir: true
 left_ir_width: 640
 left_ir_height: 480
 left_ir_fps: 60
 left_ir_format: "Y8"
 
 #right ir params
+enable_right_ir: true
 right_ir_width: 640
 right_ir_height: 480
 right_ir_fps: 60

orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h

@@ -83,6 +83,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::recursive_mutex device_lock_;
   int device_num_ = 1;
   rclcpp::TimerBase::SharedPtr check_connect_timer_ = nullptr;
+  rclcpp::TimerBase::SharedPtr sync_host_time_timer_ = nullptr;
   std::shared_ptr<std::thread> reset_device_thread_ = nullptr;
   std::mutex reset_device_mutex_;
   std::condition_variable reset_device_cond_;

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -301,7 +301,11 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
   CHECK_NOTNULL(device_info_.get());
   device_unique_id_ = device_info_->uid();
   if (!isOpenNIDevice(device_info_->pid())) {
-    ctx_->enableDeviceClockSync(30000);  // every 30s sync time
+    sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
+      if (device_) {
+        device_->timerSyncWithHost();
+      }
+    });
   }
   RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->name() << " connected");
   RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->serialNumber());