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add switch IR camera

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This commit is contained in:
Joe Dong
2023-02-27 14:02:23 +08:00
parent dc23e8cd43
commit f8df9422d6
4 changed files with 39 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6 -1
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@@ -47,7 +47,7 @@
#include "orbbec_camera_msgs/srv/get_string.hpp"
#include "orbbec_camera_msgs/srv/set_int32.hpp"
#include "orbbec_camera_msgs/srv/get_bool.hpp"
#include "orbbec_camera_msgs/srv/set_string.hpp"
#include "orbbec_camera/constants.h"
#include "orbbec_camera/dynamic_params.h"
#include "orbbec_camera/d2c_viewer.h"
@@ -83,6 +83,7 @@ using Extrinsics = orbbec_camera_msgs::msg::Extrinsics;
using SetInt32 = orbbec_camera_msgs::srv::SetInt32;
using GetInt32 = orbbec_camera_msgs::srv::GetInt32;
using GetString = orbbec_camera_msgs::srv::GetString;
using SetString = orbbec_camera_msgs::srv::SetString;
using SetBool = std_srvs::srv::SetBool;
using GetBool = orbbec_camera_msgs::srv::GetBool;
@@ -224,6 +225,9 @@ class OBCameraNode {
void savePointCloudCallback(const std::shared_ptr<std_srvs::srv::Empty::Request>& request,
std::shared_ptr<std_srvs::srv::Empty::Response>& response);
void switchIRCameraCallback(const std::shared_ptr<SetString::Request>& request,
std::shared_ptr<SetString::Response>& response);
void publishPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
void publishDepthPointCloud(const std::shared_ptr<ob::FrameSet>& frame_set);
@@ -293,6 +297,7 @@ class OBCameraNode {
rclcpp::Service<GetInt32>::SharedPtr get_auto_white_balance_srv_;
rclcpp::Service<SetBool>::SharedPtr set_auto_white_balance_srv_;
rclcpp::Service<GetString>::SharedPtr get_sdk_version_srv_;
rclcpp::Service<SetString>::SharedPtr switch_ir_camera_srv_;
std::map<stream_index_pair, rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr>
set_auto_exposure_srv_;
rclcpp::Service<GetDeviceInfo>::SharedPtr get_device_srv_;