update launch file

orbbec_camera/launch/astra.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/astra_adv.launch.xml

@@ -5,6 +5,7 @@
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
     <arg name="device_num" default="1"/>
+    <arg name="usb_port" default=""/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
     <arg name="enable_point_cloud" default="true"/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,7 +95,9 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
-            <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
+            <remap from="/$(var camera_name)/depth/color/points"
+                   to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>
 </launch>

orbbec_camera/launch/astra_embedded_s.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/astra_mini.launch.xml

@@ -5,6 +5,7 @@
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
     <arg name="device_num" default="1"/>
+    <arg name="usb_port" default=""/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
     <arg name="enable_point_cloud" default="true"/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/astra_mini_pro.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/astra_pro_plus.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,6 +46,7 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
@@ -92,6 +94,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/astra_stereo_u3.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/dabai.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/dabai_d1.launch.xml

@@ -2,8 +2,8 @@
     <!-- unique camera name-->
     <arg name="camera_name" default="camera"/>
     <!-- Hardware depth registration -->
-    ]
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -32,11 +32,13 @@
     <arg name="ir_info_url" default=""/>
     <arg name="log_level" default="none"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -65,6 +67,7 @@
             <param name="ir_info_url" value="$(var ir_info_url)"/>
             <param name="log_level" value="$(var log_level)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/dabai_dcw.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,15 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
+
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="serial_number" value="$(var serial_number)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +96,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/dabai_dw.launch.xml

@@ -3,6 +3,7 @@
     <arg name="camera_name" default="camera"/>
     <!-- Hardware depth registration -->
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -31,11 +32,13 @@
     <arg name="ir_info_url" default=""/>
     <arg name="log_level" default="none"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -64,6 +67,7 @@
             <param name="ir_info_url" value="$(var ir_info_url)"/>
             <param name="log_level" value="$(var log_level)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/dabai_pro.launch.xml

@@ -2,8 +2,8 @@
     <!-- unique camera name-->
     <arg name="camera_name" default="camera"/>
     <!-- Hardware depth registration -->
-    ]
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -32,11 +32,13 @@
     <arg name="ir_info_url" default=""/>
     <arg name="log_level" default="none"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -65,6 +67,7 @@
             <param name="ir_info_url" value="$(var ir_info_url)"/>
             <param name="log_level" value="$(var log_level)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/deeya.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/femto.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/femto_mega.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/femto_w.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/gemini.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/gemini2.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -68,6 +69,7 @@
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -126,6 +128,7 @@
             <param name="rgb_trigger_signal_in_delay" value="$(var rgb_trigger_signal_in_delay)"/>
             <param name="device_trigger_signal_out_delay" value="$(var device_trigger_signal_out_delay)"/>
             <param name="sync_signal_trigger_out" value="$(var sync_signal_trigger_out)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/gemini_e.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -45,12 +46,14 @@
     <arg name="enable_publish_extrinsic" default="false"/>
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -92,6 +95,7 @@
             <param name="enable_publish_extrinsic" value="$(var enable_publish_extrinsic)"/>
             <param name="enable_d2c_viewer" value="$(var enable_d2c_viewer)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
             <remap from="/$(var camera_name)/depth/color/points" to="/$(var camera_name)/depth_registered/points"/>
         </node>
     </group>

orbbec_camera/launch/gemini_e_lite.launch.xml

@@ -4,6 +4,7 @@
     <!-- Hardware depth registration -->
     <arg name="depth_registration" default="false"/>
     <arg name="serial_number" default=""/>
+    <arg name="usb_port" default=""/>
     <arg name="device_num" default="1"/>
     <arg name="vendor_id" default="0x2bc5"/>
     <arg name="product_id" default=""/>
@@ -32,12 +33,14 @@
     <arg name="ir_info_url" default=""/>
     <arg name="log_level" default="none"/>
     <arg name="enable_soft_filter" default="true"/>
+    <arg name="enable_ldp" default="true"/>
     <group>
         <push-ros-namespace namespace="$(var camera_name)"/>
         <node name="camera" pkg="orbbec_camera" exec="orbbec_camera_node" output="screen">
             <param name="camera_name" value="$(var camera_name)"/>
             <param name="depth_registration" value="$(var depth_registration)"/>
             <param name="serial_number" value="$(var serial_number)"/>
+            <param name="usb_port" value="$(var usb_port)"/>
             <param name="device_num" value="$(var device_num)"/>
             <param name="vendor_id" value="$(var vendor_id)"/>
             <param name="product_id" value="$(var product_id)"/>
@@ -66,6 +69,7 @@
             <param name="ir_info_url" value="$(var ir_info_url)"/>
             <param name="log_level" value="$(var log_level)"/>
             <param name="enable_soft_filter" value="$(var enable_soft_filter)"/>
+            <param name="enable_ldp" value="$(var enable_ldp)"/>
         </node>
     </group>
 </launch>

orbbec_camera/src/ob_camera_node.cpp

@@ -231,7 +231,7 @@ void OBCameraNode::startStreams() {
     });
   }
   pipeline_started_.store(true);
-  // startIMU();
+  startIMU();
 }
 
 void OBCameraNode::startIMU() {
@@ -288,7 +288,7 @@ void OBCameraNode::stopStreams() {
   }
   try {
     pipeline_->stop();
-    // stopIMU();
+    stopIMU();
   } catch (const ob::Error& e) {
     RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << e.getMessage());
   }
@@ -398,7 +398,7 @@ void OBCameraNode::getParameters() {
   setAndGetNodeParameter(rgb_trigger_signal_in_delay_, "rgb_trigger_signal_in_delay", 0);
   setAndGetNodeParameter(device_trigger_signal_out_delay_, "device_trigger_signal_out_delay", 0);
   setAndGetNodeParameter(sync_signal_trigger_out_, "sync_signal_trigger_out", false);
-  setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "0.8mm");
+  setAndGetNodeParameter<std::string>(depth_precision_str_, "depth_precision", "1mm");
   std::transform(sync_mode_str_.begin(), sync_mode_str_.end(), sync_mode_str_.begin(), ::toupper);
   sync_mode_ = OBSyncModeFromString(sync_mode_str_);
   depth_precision_ = depthPrecisionLevelFromString(depth_precision_str_);

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -59,6 +59,7 @@ void OBCameraNodeDriver::init() {
   parameters_ = std::make_shared<Parameters>(this);
   serial_number_ = declare_parameter<std::string>("serial_number", "");
   device_num_ = static_cast<int>(declare_parameter<int>("device_num", 1));
+  usb_port_ = declare_parameter<std::string>("usb_port", "");
   ctx_->setDeviceChangedCallback([this](const std::shared_ptr<ob::DeviceList> &removed_list,
                                         const std::shared_ptr<ob::DeviceList> &added_list) {
     (void)added_list;