add align mode

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -454,5 +454,6 @@ class OBCameraNode {
   bool use_hardware_time_ = false;
   bool enable_depth_scale_ = true;
   bool is_openni_device_ = false;
+  std::string align_mode_ = "HW";
 };
 }  // namespace orbbec_camera

orbbec_camera/launch/astra.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra2.launch.py

@@ -71,6 +71,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_adv.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_embedded_s.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_pro2.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/astra_stereo_u3.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_d1.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcl.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dcw2.launch.py

@@ -64,6 +64,8 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
+
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_dw2.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max.launch.py

@@ -52,6 +52,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_max_pro.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/dabai_pro.launch.py

@@ -50,6 +50,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/deeya.launch.py

@@ -61,6 +61,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto.launch.py

@@ -72,6 +72,7 @@ def generate_launch_description():
         DeclareLaunchArgument('enable_frame_sync', default_value='false'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_bolt.launch.py

@@ -78,6 +78,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/femto_mega.launch.py

@@ -85,6 +85,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2L.launch.py

@@ -84,6 +84,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2VL.launch.py

@@ -77,6 +77,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini2XL.launch.py

@@ -93,6 +93,7 @@ def generate_launch_description():
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
         DeclareLaunchArgument('enable_depth_scale', default_value='true'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e.launch.py

@@ -62,6 +62,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_e_lite.launch.py

@@ -51,6 +51,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew.launch.py

@@ -63,6 +63,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/launch/gemini_ew_lite.launch.py

@@ -55,6 +55,7 @@ def generate_launch_description():
         DeclareLaunchArgument('video_convert', default_value='videoconvert'),
         DeclareLaunchArgument('ordered_pc', default_value='false'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
 
     ]
 

orbbec_camera/launch/gemini_uw.launch.py

@@ -64,6 +64,7 @@ def generate_launch_description():
         DeclareLaunchArgument('soft_filter_max_diff', default_value='-1'),
         DeclareLaunchArgument('soft_filter_speckle_size', default_value='-1'),
         DeclareLaunchArgument('use_hardware_time', default_value='false'),
+        DeclareLaunchArgument('align_mode', default_value='HW'),
     ]
 
     # Node configuration

orbbec_camera/src/ob_camera_node.cpp

@@ -606,6 +606,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter<int>(max_save_images_count_, "max_save_images_count", 10);
   setAndGetNodeParameter<bool>(use_hardware_time_, "use_hardware_time", false);
   setAndGetNodeParameter<bool>(enable_depth_scale_, "enable_depth_scale", true);
+  setAndGetNodeParameter<std::string>(align_mode_, "align_mode", "HW");
   auto info = device_->getDeviceInfo();
   is_openni_device_ = isOpenNIDevice(info->pid());
   if (is_openni_device_) {
@@ -637,7 +638,8 @@ void OBCameraNode::setupPipelineConfig() {
       pipeline_config_->setAlignMode(ALIGN_D2C_SW_MODE);
     } else {
       RCLCPP_INFO_STREAM(logger_, "set align mode ALIGN_D2C_HW_MODE.");
-      pipeline_config_->setAlignMode(ALIGN_D2C_HW_MODE);
+      OBAlignMode align_mode = align_mode_ == "HW"? ALIGN_D2C_HW_MODE : ALIGN_D2C_SW_MODE;
+      pipeline_config_->setAlignMode(align_mode);
     }
   }
   for (const auto &stream_index : IMAGE_STREAMS) {