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camera namespacing fix #14

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1 change: 1 addition & 0 deletions orbbec_camera/include/orbbec_camera/ob_camera_node.h
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Original file line number Diff line number Diff line change
Expand Up @@ -425,6 +425,7 @@ class OBCameraNode {
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::string camera_name_ = "camera";
std::string namespace_ = "";
std::string accel_gyro_frame_id_ = "camera_accel_gyro_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_frame";
std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
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17 changes: 9 additions & 8 deletions orbbec_camera/src/ob_camera_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1520,7 +1520,8 @@ void OBCameraNode::setupDefaultImageFormat() {

void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera");
camera_link_frame_id_ = camera_name_ + "_link";
setAndGetNodeParameter<std::string>(namespace_, "namespace", "");
camera_link_frame_id_ = namespace_ + "/" + camera_name_ + "_link";
for (auto stream_index : IMAGE_STREAMS) {
std::string param_name = stream_name_[stream_index] + "_width";
setAndGetNodeParameter(width_[stream_index], param_name, 0);
Expand All @@ -1540,11 +1541,11 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(mirror_stream_[stream_index], param_name, false);
param_name = stream_name_[stream_index] + "_rotation";
setAndGetNodeParameter<int>(rotation_stream_[stream_index], param_name, -1);
param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
param_name = namespace_ + "/" + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
std::string default_optical_frame_id =
camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
namespace_ + "/" + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
param_name = stream_name_[stream_index] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
param_name = stream_name_[stream_index] + "_format";
Expand All @@ -1561,7 +1562,7 @@ void OBCameraNode::getParameters() {
depth_aligned_frame_id_[stream_index] = optical_frame_id_[COLOR];
}

accel_gyro_frame_id_ = camera_name_ + "_accel_gyro_optical_frame";
accel_gyro_frame_id_ = namespace_ + "/" + camera_name_ + "_accel_gyro_optical_frame";

setAndGetNodeParameter<bool>(enable_sync_output_accel_gyro_, "enable_sync_output_accel_gyro",
false);
Expand All @@ -1577,15 +1578,15 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(imu_rate_[stream_index], param_name, "");
param_name = stream_name_[stream_index] + "_range";
setAndGetNodeParameter<std::string>(imu_range_[stream_index], param_name, "");
param_name = camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
param_name = namespace_ + "/" + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = namespace_ + "/" + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
std::string default_optical_frame_id =
camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
namespace_ + "/" + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
param_name = stream_name_[stream_index] + "_optical_frame_id";
setAndGetNodeParameter(optical_frame_id_[stream_index], param_name, default_optical_frame_id);
depth_aligned_frame_id_[stream_index] =
camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
namespace_ + "/" + camera_name_ + "_" + stream_name_[COLOR] + "_optical_frame";
}
setAndGetNodeParameter<bool>(publish_tf_, "publish_tf", true);
setAndGetNodeParameter<double>(tf_publish_rate_, "tf_publish_rate", 0.0);
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66 changes: 33 additions & 33 deletions orbbec_camera/src/ros_service.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,75 +29,75 @@ void OBCameraNode::setupCameraCtrlServices() {
continue;
}
auto stream_name = stream_name_[stream_index];
std::string service_name = "get_" + stream_name + "_exposure";
std::string service_name = camera_name_ + "/" + "get_" + stream_name + "_exposure";
get_exposure_srv_[stream_index] = node_->create_service<GetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getExposureCallback(request, response, stream_index);
});

service_name = "set_" + stream_name + "_exposure";
service_name = camera_name_ + "/" + "set_" + stream_name + "_exposure";
set_exposure_srv_[stream_index] = node_->create_service<SetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setExposureCallback(request, response, stream_index);
});
service_name = "get_" + stream_name + "_gain";
service_name = camera_name_ + "/" + "get_" + stream_name + "_gain";
get_gain_srv_[stream_index] = node_->create_service<GetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getGainCallback(request, response, stream_index);
});

service_name = "set_" + stream_name + "_gain";
service_name = camera_name_ + "/" + "set_" + stream_name + "_gain";
set_gain_srv_[stream_index] = node_->create_service<SetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setGainCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_auto_exposure";
service_name = camera_name_ + "/" + "set_" + stream_name + "_auto_exposure";
set_auto_exposure_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoExposureCallback(request, response, stream_index);
});

service_name = "set_" + stream_name + "_ae_roi";
service_name = camera_name_ + "/" + "set_" + stream_name + "_ae_roi";
set_ae_roi_srv_[stream_index] = node_->create_service<SetArrays>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetArrays::Request> request,
std::shared_ptr<SetArrays::Response> response) {
setAeRoiCallback(request, response, stream_index);
});

service_name = "toggle_" + stream_name;
service_name = camera_name_ + "/" + "toggle_" + stream_name;

toggle_sensor_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
toggleSensorCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_mirror";
service_name = camera_name_ + "/" + "set_" + stream_name + "_mirror";
set_mirror_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setMirrorCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_flip";
service_name = camera_name_ + "/" + "set_" + stream_name + "_flip";
set_flip_srv_[stream_index] = node_->create_service<SetBool>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setFlipCallback(request, response, stream_index);
});
service_name = "set_" + stream_name + "_rotation";
service_name = camera_name_ + "/" + "set_" + stream_name + "_rotation";
set_rotation_srv_[stream_index] = node_->create_service<SetInt32>(
service_name,
[this, stream_index = stream_index](const std::shared_ptr<SetInt32::Request> request,
Expand All @@ -106,123 +106,123 @@ void OBCameraNode::setupCameraCtrlServices() {
});
}
set_fan_work_mode_srv_ = node_->create_service<SetInt32>(
"set_fan_work_mode", [this](const std::shared_ptr<SetInt32::Request> request,
camera_name_ + "/" + "set_fan_work_mode", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setFanWorkModeCallback(request, response);
});
set_floor_enable_srv_ = node_->create_service<SetBool>(
"set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
camera_name_ + "/" + "set_floor_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setFloorEnableCallback(request_header, request, response);
});
set_laser_enable_srv_ = node_->create_service<SetBool>(
"set_laser_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
camera_name_ + "/" + "set_laser_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLaserEnableCallback(request_header, request, response);
});
set_ldp_enable_srv_ = node_->create_service<SetBool>(
"set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
camera_name_ + "/" + "set_ldp_enable", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setLdpEnableCallback(request_header, request, response);
});
get_ldp_status_srv_ = node_->create_service<GetBool>(
"get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
camera_name_ + "/" + "get_ldp_status", [this](const std::shared_ptr<rmw_request_id_t> request_header,
const std::shared_ptr<GetBool::Request> request,
std::shared_ptr<GetBool::Response> response) {
(void)request_header;
getLdpStatusCallback(request, response);
});

get_white_balance_srv_ = node_->create_service<GetInt32>(
"get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
camera_name_ + "/" + "get_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getWhiteBalanceCallback(request, response);
});

set_white_balance_srv_ = node_->create_service<SetInt32>(
"set_white_balance", [this](const std::shared_ptr<SetInt32::Request> request,
camera_name_ + "/" + "set_white_balance", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setWhiteBalanceCallback(request, response);
});
get_auto_white_balance_srv_ = node_->create_service<GetInt32>(
"get_auto_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
camera_name_ + "/" + "get_auto_white_balance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getAutoWhiteBalanceCallback(request, response);
});
set_auto_white_balance_srv_ = node_->create_service<SetBool>(
"set_auto_white_balance", [this](const std::shared_ptr<SetBool::Request> request,
camera_name_ + "/" + "set_auto_white_balance", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setAutoWhiteBalanceCallback(request, response);
});
get_device_srv_ = node_->create_service<GetDeviceInfo>(
"get_device_info", [this](const std::shared_ptr<GetDeviceInfo::Request> request,
camera_name_ + "/" + "get_device_info", [this](const std::shared_ptr<GetDeviceInfo::Request> request,
std::shared_ptr<GetDeviceInfo::Response> response) {
getDeviceInfoCallback(request, response);
});
get_sdk_version_srv_ = node_->create_service<GetString>(
"get_sdk_version",
camera_name_ + "/" + "get_sdk_version",
[this](const std::shared_ptr<GetString::Request> request,
std::shared_ptr<GetString::Response> response) { getSDKVersion(request, response); });
save_images_srv_ = node_->create_service<std_srvs::srv::Empty>(
"save_images", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
camera_name_ + "/" + "save_images", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response) {
saveImageCallback(request, response);
});
save_point_cloud_srv_ = node_->create_service<std_srvs::srv::Empty>(
"save_point_cloud", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
camera_name_ + "/" + "save_point_cloud", [this](const std::shared_ptr<std_srvs::srv::Empty::Request> request,
std::shared_ptr<std_srvs::srv::Empty::Response> response) {
savePointCloudCallback(request, response);
});
switch_ir_camera_srv_ = node_->create_service<SetString>(
"switch_ir", [this](const std::shared_ptr<SetString::Request> request,
camera_name_ + "/" + "switch_ir", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
switchIRCameraCallback(request, response);
});
set_ir_long_exposure_srv_ = node_->create_service<SetBool>(
"set_ir_long_exposure", [this](const std::shared_ptr<SetBool::Request> request,
camera_name_ + "/" + "set_ir_long_exposure", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setIRLongExposureCallback(request, response);
});
get_lrm_measure_distance_srv_ = node_->create_service<GetInt32>(
"get_lrm_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request,
camera_name_ + "/" + "get_lrm_measure_distance", [this](const std::shared_ptr<GetInt32::Request> request,
std::shared_ptr<GetInt32::Response> response) {
getLrmMeasureDistanceCallback(request, response);
});
set_reset_timestamp_srv_ = node_->create_service<SetBool>(
"set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request,
camera_name_ + "/" + "set_reset_timestamp", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setRESETTimestampCallback(request, response);
});
set_interleaver_laser_sync_srv_ = node_->create_service<SetInt32>(
"set_sync_interleaverlaser", [this](const std::shared_ptr<SetInt32::Request> request,
camera_name_ + "/" + "set_sync_interleaverlaser", [this](const std::shared_ptr<SetInt32::Request> request,
std::shared_ptr<SetInt32::Response> response) {
setSYNCInterleaveLaserCallback(request, response);
});
set_sync_host_time_srv_ = node_->create_service<SetBool>(
"set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
camera_name_ + "/" + "set_sync_hosttime", [this](const std::shared_ptr<SetBool::Request> request,
std::shared_ptr<SetBool::Response> response) {
setSYNCHostimeCallback(request, response);
});
send_service_trigger_srv_ = node_->create_service<CameraTrigger>(
"send_service_trigger", [this](const std::shared_ptr<CameraTrigger::Request> request,
camera_name_ + "/" + "send_service_trigger", [this](const std::shared_ptr<CameraTrigger::Request> request,
std::shared_ptr<CameraTrigger::Response> response) {
sendSoftwareTriggerCallback(request, response);
});
set_write_customerdata_srv_ = node_->create_service<SetString>(
"set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request,
camera_name_ + "/" + "set_write_customer_data", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
setWriteCustomerData(request, response);
});
set_read_customerdata_srv_ = node_->create_service<SetString>(
"set_read_customer_data", [this](const std::shared_ptr<SetString::Request> request,
camera_name_ + "/" + "set_read_customer_data", [this](const std::shared_ptr<SetString::Request> request,
std::shared_ptr<SetString::Response> response) {
setReadCustomerData(request, response);
});
change_state_srv_ = node_->create_service<lifecycle_msgs::srv::ChangeState>(
"change_state", std::bind(&OBCameraNode::handleChangeStateRequest, this,
camera_name_ + "/" + "change_state", std::bind(&OBCameraNode::handleChangeStateRequest, this,
std::placeholders::_1, std::placeholders::_2));
}

Expand Down
7 changes: 4 additions & 3 deletions orbbec_camera_py/launch/orbbec_camera_trigger.launch.xml
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Original file line number Diff line number Diff line change
@@ -1,10 +1,11 @@
<launch>

<arg name="use_tote_pose" default="true" />
<arg name="namespace" default="" />
<arg name="camera_name" default="inward_a_right_camera" />

<node pkg="orbbec_camera_py" exec="run_orbbec_trigger" output="both">
<param name="camera_name" value="/inward_a_right_camera"/>
<param name="trigger_period" value="5.0"/>
<param name="camera_name" value="/$(var namespace)/$(var camera_name)"/>
<param name="trigger_period" value="1.0"/>
</node>

</launch>