default_count: 10 services: # ===================== Color ===================== - name: /camera/get_auto_white_balance type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_color_exposure type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_color_gain type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_white_balance type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/set_auto_white_balance type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_color_auto_exposure type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_color_exposure type: orbbec_camera_msgs/srv/SetInt32 request: {data: 30} - name: /camera/set_color_gain type: orbbec_camera_msgs/srv/SetInt32 request: {data: 16} # 435Le: 1 - 16 - name: /camera/set_white_balance type: orbbec_camera_msgs/srv/SetInt32 request: {data: 3000} - name: /camera/set_color_flip type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_color_mirror type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_color_rotation type: orbbec_camera_msgs/srv/SetInt32 request: {data: 90} - name: /camera/set_color_ae_roi type: orbbec_camera_msgs/srv/SetArrays request: {data_param: [0,1279,0,719]} - name: /camera/toggle_color type: std_srvs/srv/SetBool request: {data: true} # ===================== Depth ===================== - name: /camera/get_depth_exposure type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_depth_gain type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/set_depth_auto_exposure type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_depth_exposure type: orbbec_camera_msgs/srv/SetInt32 request: {data: 3000} # Femto_bolt 20 - 125 - name: /camera/set_depth_gain type: orbbec_camera_msgs/srv/SetInt32 request: {data: 2000} # for Gemini 2L/215 range is 1000-15000 Gemini336: 16 - 248 AstraProMin: 1-15 Astra2: 1000-8000 - name: /camera/set_depth_flip type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_depth_mirror type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_depth_rotation type: orbbec_camera_msgs/srv/SetInt32 request: {data: 90} - name: /camera/set_depth_ae_roi type: orbbec_camera_msgs/srv/SetArrays request: {data_param: [0,1279,0,719]} - name: /camera/toggle_depth type: std_srvs/srv/SetBool request: {data: true} # ===================== IR ===================== - name: /camera/get_ir_exposure type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_ir_gain type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/set_ir_auto_exposure type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_ir_exposure type: orbbec_camera_msgs/srv/SetInt32 request: {data: 30} # AstraMiniPro: 1000-142000 - name: /camera/set_ir_gain type: orbbec_camera_msgs/srv/SetInt32 request: {data: 10} # AstraMiniPro: 1-15 - name: /camera/set_ir_flip type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_ir_mirror type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_ir_rotation type: orbbec_camera_msgs/srv/SetInt32 request: {data: 90} - name: /camera/set_ir_long_exposure type: std_srvs/srv/SetBool request: {data: false} # ===================== IR (左/右) ===================== - name: /camera/get_left_ir_exposure type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_left_ir_gain type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_right_ir_exposure type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_right_ir_gain type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/set_left_ir_auto_exposure type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_left_ir_exposure type: orbbec_camera_msgs/srv/SetInt32 request: {data: 30} - name: /camera/set_left_ir_gain type: orbbec_camera_msgs/srv/SetInt32 request: {data: 20} - name: /camera/set_left_ir_flip type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_left_ir_mirror type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_left_ir_rotation type: orbbec_camera_msgs/srv/SetInt32 request: {data: 90} - name: /camera/set_right_ir_auto_exposure type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_right_ir_exposure type: orbbec_camera_msgs/srv/SetInt32 request: {data: 30} - name: /camera/set_right_ir_gain type: orbbec_camera_msgs/srv/SetInt32 request: {data: 20} - name: /camera/set_right_ir_flip type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_right_ir_mirror type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_right_ir_rotation type: orbbec_camera_msgs/srv/SetInt32 request: {data: 90} - name: /camera/toggle_left_ir type: std_srvs/srv/SetBool request: {data: true} - name: /camera/toggle_right_ir type: std_srvs/srv/SetBool request: {data: true} # ===================== Others ===================== - name: /camera/set_filter type: orbbec_camera_msgs/srv/SetFilter request: {filter_name: DecimationFilter, filter_enable: false, filter_param: [5]} - name: /camera/get_lrm_measure_distance type: orbbec_camera_msgs/srv/GetInt32 - name: /camera/get_ldp_status type: orbbec_camera_msgs/srv/GetBool - name: /camera/set_laser_enable type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_ldp_enable type: std_srvs/srv/SetBool request: {data: false} - name: /camera/save_images type: std_srvs/srv/Empty - name: /camera/save_point_cloud type: std_srvs/srv/Empty - name: /camera/set_sync_interleaverlaser type: orbbec_camera_msgs/srv/SetInt32 request: {data: 1} - name: /camera/get_ptp_config type: orbbec_camera_msgs/srv/GetBool - name: /camera/set_ptp_config type: std_srvs/srv/SetBool request: {data: false} - name: /camera/get_user_calib_params type: orbbec_camera_msgs/srv/GetUserCalibParams - name: /camera/set_user_calib_params type: orbbec_camera_msgs/srv/SetUserCalibParams - name: /camera/write_customer_data type: orbbec_camera_msgs/srv/SetString - name: /camera/read_customer_data type: orbbec_camera_msgs/srv/GetString - name: /camera/set_floor_enable type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_fan_work_mode type: orbbec_camera_msgs/srv/SetInt32 request: {data: 0} - name: /camera/switch_ir type: orbbec_camera_msgs/srv/SetString request: {data: left} - name: /camera/get_device_info type: orbbec_camera_msgs/srv/GetDeviceInfo - name: /camera/get_sdk_version type: orbbec_camera_msgs/srv/GetString - name: /camera/get_streams_enable type: orbbec_camera_msgs/srv/GetBool - name: /camera/set_streams_enable type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_reset_timestamp type: std_srvs/srv/SetBool request: {data: false} - name: /camera/set_sync_hosttime type: std_srvs/srv/SetBool request: {data: false} - name: /camera/send_software_trigger type: std_srvs/srv/SetBool request: {data: false}