chore: Add LDP switch

Author: jian-dong

include/orbbec_camera/ob_camera_node.h

@@ -500,6 +500,7 @@ class OBCameraNode {
   bool retry_on_usb3_detection_failure_ = false;
   bool enable_color_hdr_ = false;
   int laser_energy_level_ = -1;
+  bool enable_ldp_ = true;
 };
 
 }  // namespace orbbec_camera

launch/astra.launch

@@ -40,6 +40,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/astra2.launch

@@ -50,6 +50,7 @@
     <arg name="enable_soft_filter" default="true"/>
     <arg name="depth_work_mode" default=""/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -99,6 +100,7 @@
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="depth_work_mode" value="$(arg depth_work_mode)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/astra_adv.launch

@@ -41,6 +41,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -81,6 +82,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points"
                    to="/$(arg camera_name)/depth_registered/points"/>
         </node>

launch/astra_embedded_s.launch

@@ -40,6 +40,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/astra_pro2.launch

@@ -40,6 +40,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/astra_stereo_u3.launch

@@ -40,6 +40,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/dabai.launch

@@ -40,6 +40,7 @@
     <arg name="enable_d2c_viewer" default="false"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/dabai_d1.launch

@@ -31,6 +31,7 @@
     <arg name="log_level" default="none"/>
     <arg name="enable_soft_filter" default="true"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -62,6 +63,7 @@
             <param name="device_num" value="$(arg device_num)"/>
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>

launch/dabai_dcw.launch

@@ -40,6 +40,7 @@
     <arg name="enable_soft_filter" default="true"/>
     <arg name="ordered_pc" default="false"/>
     <arg name="laser_energy_level" default="-1"/>
+    <arg name="enable_ldp" default="true"/>
     <group ns="$(arg camera_name)">
         <node name="camera" pkg="orbbec_camera" type="orbbec_camera_node" output="$(arg output)">
             <param name="camera_name" value="$(arg camera_name)"/>
@@ -80,6 +81,7 @@
             <param name="enable_soft_filter" value="$(arg enable_soft_filter)"/>
             <param name="ordered_pc" value="$(arg ordered_pc)"/>
             <param name="laser_energy_level" value="$(arg laser_energy_level)"/>
+            <param name="enable_ldp" value="$(arg enable_ldp)"/>
             <remap from="/$(arg camera_name)/depth/color/points" to="/$(arg camera_name)/depth_registered/points"/>
         </node>
     </group>