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Fixing the data_type of ROS Params exposure & gain #2940

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merged 2 commits into from
Dec 19, 2023
Merged

Fixing the data_type of ROS Params exposure & gain #2940

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c5e5d3b
Fixing the data_type of ROS Params exposure & gain
Arun-Prasad-V Nov 29, 2023
25ceeae
Added live camera test for dynamic seq_id update
Arun-Prasad-V Dec 15, 2023
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1 change: 1 addition & 0 deletions realsense2_camera/include/ros_sensor.h
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,7 @@ namespace realsense2_camera
void set_sensor_auto_exposure_roi();
void registerAutoExposureROIOptions();
void UpdateSequenceIdCallback();
template<class T>
void set_sensor_parameter_to_ros(rs2_option option);

private:
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7 changes: 4 additions & 3 deletions realsense2_camera/src/ros_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -154,8 +154,8 @@ void RosSensor::UpdateSequenceIdCallback()
{
set_option(RS2_OPTION_SEQUENCE_ID, parameter.get_value<int>());
std::vector<std::function<void()> > funcs;
funcs.push_back([this](){set_sensor_parameter_to_ros(RS2_OPTION_GAIN);});
funcs.push_back([this](){set_sensor_parameter_to_ros(RS2_OPTION_EXPOSURE);});
funcs.push_back([this](){set_sensor_parameter_to_ros<int>(RS2_OPTION_GAIN);});
funcs.push_back([this](){set_sensor_parameter_to_ros<int>(RS2_OPTION_EXPOSURE);});
_params.getParameters()->pushUpdateFunctions(funcs);
});
}
Expand All @@ -166,11 +166,12 @@ void RosSensor::UpdateSequenceIdCallback()
}
}

template<class T>
void RosSensor::set_sensor_parameter_to_ros(rs2_option option)
{
std::string module_name = create_graph_resource_name(rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)));
const std::string option_name(module_name + "." + create_graph_resource_name(rs2_option_to_string(option)));
float value = get_option(option);
auto value = static_cast<T>(get_option(option));
_params.getParameters()->setRosParamValue(option_name, &value);
}

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