OrbbecSDK_ROS2/orbbec_camera/examples/ae_awb_lock

AE/AWB Lock Test

This sample exposes a test-only ROS 2 action that verifies the AE/AWB capture and manual lock-in flow through the camera driver's services and color-frame metadata.

Run the camera driver and this sample in the same namespace:

ros2 run orbbec_camera ae_awb_lock_test_node --ros-args -r __ns:=/camera

Send a goal and print feedback:

ros2 action send_goal \
  /camera/run_ae_awb_lock_test \
  orbbec_camera_msgs/action/RunAeAwbLockTest \
  "{timeout_ms: 10000}" \
  --feedback

The sample subscribes to the relative color/metadata topic. It enables auto exposure and auto white balance, waits until the SDK status equals 1, captures exposure, color gain, and color temperature from the latest color-frame metadata, and reads AWB R/B/G gains through the structured property service. It then disables the auto controls and writes the captured values back in this order:

1. Color exposure
2. Color gain
3. AWB R/B/G gains
4. Color temperature

The final AWB gain readback must exactly match the captured value. Other readback differences are reported as warnings because the device may quantize those controls. On failure or cancellation, the sample restores auto exposure and auto white balance.

Every feedback phase contains a fresh status value read from the camera service. The waiting_for_services feedback is published after all required services become available, because the status cannot be read before its service is ready.

The color stream must be enabled, and /camera/color/metadata must be available when using the /camera namespace. The action fails instead of writing default values if no metadata arrives before the goal timeout or if exposure, gain, or white_balance is missing. The goal timeout covers the main workflow, including service discovery, service calls, convergence, capture, writeback, and verification. Restoring auto exposure and auto white balance after a failure uses a separate best-effort timeout.