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add enable_fps_boost parameter

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This commit is contained in:
ob-yalian
2026-07-13 17:43:58 +08:00
parent 962e2794ad
commit f9887fe865
9 changed files with 16 additions and 2 deletions
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orbbec_camera/src/ob_camera_node.cpp
+8
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@@ -1043,6 +1043,13 @@ void OBCameraNode::setupDevices() {
logger_,
"Current heartbeat: " << (device_->getBoolProperty(OB_PROP_HEARTBEAT_BOOL) ? "ON" : "OFF"));
}
if (should_apply_launch_config("enable_fps_boost") &&
device_->isPropertySupported(OB_PROP_FPS_BOOST_BOOL, OB_PERMISSION_READ_WRITE)) {
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_FPS_BOOST_BOOL, enable_fps_boost_);
RCLCPP_INFO_STREAM(
logger_,
"Current fps boost: " << (device_->getBoolProperty(OB_PROP_FPS_BOOST_BOOL) ? "ON" : "OFF"));
}
if (should_apply_launch_config("enable_firmware_log")) {
device_->enableFirmwareLog(enable_firmware_log_);
RCLCPP_INFO_STREAM(logger_, "Set firmware log to " << (enable_firmware_log_ ? "ON" : "OFF"));
@@ -4649,6 +4656,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<int>(max_depth_limit_, "max_depth_limit", 0);
setAndGetNodeParameter<bool>(enable_heartbeat_, "enable_heartbeat", false);
setAndGetNodeParameter<bool>(enable_firmware_log_, "enable_firmware_log", false);
setAndGetNodeParameter<bool>(enable_fps_boost_, "enable_fps_boost", false);
setAndGetNodeParameter<std::string>(time_domain_, "time_domain", "global");
time_domain_ = normalizeClosedSetParameterValue(logger_, "time_domain", time_domain_,
{"global", "device", "system"}, "global");