OrbbecSDK_ROS2/docs/all_available_service_for_camera_control.md

All available service for camera control

The name of the following service already expresses its function. However, it should be noted that the corresponding set_[ir|depth|color]* and get[ir|right_ir|left_ir|depth|color]* services are only available if you set enable[ir|depth|color] to true in the stream that corresponds to the argument of the launch file.

• /camera/get_color_exposure

ros2 service call /camera/get_color_exposure orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/get_color_gain

ros2 service call /camera/get_color_gain orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/set_color_auto_exposure

ros2 service call /camera/set_color_auto_exposure std_srvs/srv/SetBool '{data: true}'

• /camera/set_color_exposure

ros2 service call /camera/set_color_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 1}'

• /camera/set_color_gain

ros2 service call /camera/set_color_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

• /camera/set_color_ae_roi

#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
ros2 service call /camera/set_color_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,1279,0,719]}'

• /camera/set_color_mirror

#v2 version is not supported yet
ros2 service call /camera/set_color_mirror std_srvs/srv/SetBool '{data: true}'

• /camera/toggle_color

ros2 service call /camera/toggle_color std_srvs/srv/SetBool '{data: true}'

• /camera/get_depth_exposure

ros2 service call /camera/get_depth_exposure orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/get_depth_gain

ros2 service call /camera/get_depth_gain orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/set_depth_auto_exposure

ros2 service call /camera/set_depth_auto_exposure std_srvs/srv/SetBool '{data: true}'

• /camera/set_depth_exposure

 ros2 service call /camera/set_depth_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'

• /camera/set_depth_gain

#v2 version is not supported yet
ros2 service call /camera/set_depth_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

• /camera/set_depth_ae_roi

#In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
ros2 service call /camera/set_depth_ae_roi orbbec_camera_msgs/srv/SetArrays '{data_param: [0,847,0,479]}'

• /camera/set_depth_mirror

ros2 service call /camera/set_depth_mirror std_srvs/srv/SetBool '{data: true}'

• /camera/toggle_depth

ros2 service call /camera/toggle_depth std_srvs/srv/SetBool '{data: true}'

• /camera/get_ir_exposure

ros2 service call /camera/get_ir_exposure orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/get_ir_gain

ros2 service call /camera/get_ir_gain orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/set_ir_long_exposure

ros2 service call /camera/set_ir_long_exposure std_srvs/srv/SetBool '{data: true}'

• /camera/set_ir_auto_exposure

ros2 service call /camera/set_ir_auto_exposure std_srvs/srv/SetBool '{data: true}'

• /camera/set_ir_exposure

ros2 service call /camera/set_ir_exposure orbbec_camera_msgs/srv/SetInt32 '{data: 3000}'

• /camera/set_ir_gain

ros2 service call /camera/set_ir_gain orbbec_camera_msgs/srv/SetInt32 '{data: 64}'

• /camera/set_ir_mirror

#v2 version is not supported yet
ros2 service call /camera/set_ir_mirror std_srvs/srv/SetBool '{data: true}'

• /camera/switch_ir

ros2 service call /camera/switch_ir orbbec_camera_msgs/srv/SetString '{data: left}'

• /camera/toggle_ir

ros2 service call /camera/toggle_ir std_srvs/srv/SetBool '{data: true}'

• /camera/get_auto_white_balance

ros2 service call /camera/get_auto_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/set_auto_white_balance

ros2 service call /camera/set_auto_white_balance std_srvs/srv/SetBool '{data: true}'

• /camera/get_white_balance

ros2 service call /camera/get_white_balance orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/set_white_balance

ros2 service call /camera/set_white_balance orbbec_camera_msgs/srv/SetInt32 '{data: 2800}'

• /camera/set_laser_enable

ros2 service call /camera/set_laser_enable std_srvs/srv/SetBool '{data: true}'

• /camera/set_ldp_enable

ros2 service call /camera/set_ldp_enable std_srvs/srv/SetBool '{data: true}'

• /camera/get_ldp_status

ros2 service call /camera/get_ldp_status orbbec_camera_msgs/srv/GetBool '{}'

• /camera/get_lrm_measure_distance

ros2 service call /camera/get_lrm_measure_distance orbbec_camera_msgs/srv/GetInt32 '{}'

• /camera/get_device_info

ros2 service call /camera/get_device_info orbbec_camera_msgs/srv/GetDeviceInfo

• /camera/get_sdk_version

ros2 service call /camera/get_sdk_version orbbec_camera_msgs/srv/GetString

• /camera/reboot_device

ros2 service call /camera/reboot_device std_srvs/srv/Empty '{}'

• /camera/save_images

ros2 service call /camera/save_images std_srvs/srv/Empty '{}'

• /camera/save_point_cloud

ros2 service call /camera/save_point_cloud std_srvs/srv/Empty '{}'

• /camera/set_fan_work_mode

ros2 service call /camera/set_fan_work_mode orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

• /camera/set_filter

#filter_name is the filter name,filter_enable is whether to enable the filter switch,and filter_param is the filter parameter

#set DecimationFilter
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: DecimationFilter,filter_enable: false,filter_param: [5]}'

#set SpatialAdvancedFilter
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: SpatialAdvancedFilter,filter_enable: true,filter_param: [0.5,160,1,8]}'

#set SequenceIdFilter
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [1]}'

#set ThresholdFilter
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: SequenceIdFilter,filter_enable: true,filter_param: [0,15999]}'

#set NoiseRemovalFilter
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: NoiseRemovalFilter,filter_enable: true,filter_param: [256,80]}'

#set HardwareNoiseRemoval
ros2 service call /camera/set_filter  orbbec_camera_msgs/srv/SetFilter '{filter_name: HardwareNoiseRemoval,filter_enable: true,filter_param: []}'

• /camera/set_floor_enable

ros2 service call /camera/set_floor_enable std_srvs/srv/SetBool '{data: true}'

• /camera/set_reset_timestamp

#Only available when time_domain param is set to device
ros2 service call /camera/set_reset_timestamp std_srvs/srv/SetBool '{data: true}'

• /camera/set_sync_interleaverlaser

#Only available if interleave_ae_mode param is set to laser and interleave_frame_enable param is set to true
ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetInt32 '{data: 0}'

• /camera/set_sync_hosttime

ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'