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OrbbecSDK_ROS2/orbbec_camera/scripts/default_service.yaml
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slz f0e2684246 Enhance service benchmark tool
2025-09-23 15:33:49 +08:00

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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}
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