Change the service name of set_software_trigger_enabled to send_software_trigger

Author: jjiszjj

docs/all_available_service_for_camera_control.md

@@ -327,8 +327,8 @@ ros2 service call /camera/set_sync_interleaverlaser orbbec_camera_msgs/srv/SetIn
 ros2 service call /camera/set_sync_hosttime std_srvs/srv/SetBool '{data: true}'
 ```
 
-* `/camera/set_software_trigger_enabled`
+* `/camera/send_software_trigger`
 
 ```
-ros2 service call /camera/set_software_trigger_enabled std_srvs/srv/SetBool '{data: true}'
+ros2 service call /camera/send_software_trigger std_srvs/srv/SetBool '{data: true}'
 ```

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -313,9 +313,8 @@ class OBCameraNode {
                          std::shared_ptr<SetFilter ::Response>& response);
   void setSYNCHostimeCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
                               std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
-  void setSoftwareTriggerEnabledCallback(
-      const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
-      std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
+  void sendSoftwareTriggerCallback(const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
+                                   std::shared_ptr<std_srvs::srv::SetBool::Response>& response);
 
   bool toggleSensor(const stream_index_pair& stream_index, bool enabled, std::string& msg);
 
@@ -496,7 +495,7 @@ class OBCameraNode {
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_reset_timestamp_srv_;
   rclcpp::Service<SetInt32>::SharedPtr set_interleaver_laser_sync_srv_;
   rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_sync_host_time_srv_;
-  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr set_software_trigger_enabled_srv_;
+  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr send_software_trigger_srv_;
   rclcpp::Service<SetFilter>::SharedPtr set_filter_srv_;
 
   bool enable_sync_output_accel_gyro_ = false;

orbbec_camera/src/ros_service.cpp

@@ -206,10 +206,10 @@ void OBCameraNode::setupCameraCtrlServices() {
                                   std::shared_ptr<SetBool::Response> response) {
         setSYNCHostimeCallback(request, response);
       });
-  set_software_trigger_enabled_srv_ = node_->create_service<SetBool>(
-      "set_software_trigger_enabled", [this](const std::shared_ptr<SetBool::Request> request,
-                                             std::shared_ptr<SetBool::Response> response) {
-        setSoftwareTriggerEnabledCallback(request, response);
+  send_software_trigger_srv_ = node_->create_service<SetBool>(
+      "send_software_trigger", [this](const std::shared_ptr<SetBool::Request> request,
+                                      std::shared_ptr<SetBool::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,
@@ -1063,11 +1063,13 @@ void OBCameraNode::setSYNCHostimeCallback(
   }
 }
 
-void OBCameraNode::setSoftwareTriggerEnabledCallback(
+void OBCameraNode::sendSoftwareTriggerCallback(
     const std::shared_ptr<std_srvs::srv::SetBool::Request>& request,
     std::shared_ptr<std_srvs::srv::SetBool::Response>& response) {
   try {
-    software_trigger_enabled_ = request->data;
+    if (request->data) {
+      device_->triggerCapture();
+    }
     response->success = true;
   } catch (const ob::Error& e) {
     response->message = e.getMessage();