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update launch file

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This commit is contained in:
Joe Dong
2023-07-05 17:50:44 +08:00
parent acba9de937
commit f718789992
22 changed files with 85 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+3 -3
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@@ -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
+1
View File
@@ -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;