ROS接口迁移指南（从2.0.2及以下版本到2.3.4及以上版本）

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最新ROS接口仅与Mech-Eye SDK 2.3.4或以上版本互相兼容。如安装最新版Mech-Eye SDK后希望继续使用已有的ROS程序，请根据本章修改ROS程序。

话题

Mech-Eye SDK 2.3.4及以上版本中，ROS接口的话题发生以下变更：

  • 深度图：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    /mechmind/depth_image
    /mechmind/depth_image

    • ROS 1

    • ROS 2

    /mechmind/depth_map
    /mechmind/depth_map

  • 纹理点云：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    /mechmind/color_point_cloud
    /mechmind/color_point_cloud

    • ROS 1

    • ROS 2

    /mechmind/textured_point_cloud
    /mechmind/textured_point_cloud

服务

Mech-Eye SDK 2.3.4及以上版本中，ROS接口的服务发生以下变更：

数据采集

  • 采集2D图：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /capture_color_map
    ros2 service call /capture_color_map mecheye_ros_interface/srv/CaptureColorMap

    • ROS 1

    • ROS 2

    rosservice call /capture_color_image
    ros2 service call /capture_color_image mecheye_ros_interface/srv/CaptureColorImage

  • 采集纹理点云：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /capture_color_point_cloud
    ros2 service call /capture_color_point_cloud mecheye_ros_interface/srv/CaptureColorPointCloud

    • ROS 1

    • ROS 2

    rosservice call /capture_textured_point_cloud
    ros2 service call /capture_textured_point_cloud mecheye_ros_interface/srv/CaptureTexturedPointCloud

调节相机参数

  • 获取Scan2DExpectedGrayValue的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_expected_gray_value
    ros2 service call /get_2d_expected_gray_value mecheye_ros_interface/srv/Get2DExpectedGrayValue

    • ROS 1

    • ROS 2

    rosservice call /get_int_parameter "{name: Scan2DExpectedGrayValue}"
    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: Scan2DExpectedGrayValue}"

  • 设置Scan2DExpectedGrayValue的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_expected_gray_value "{value: 20}"
    ros2 service call /set_2d_expected_gray_value mecheye_ros_interface/srv/Set2DExpectedGrayValue "{value: 20}"

    • ROS 1

    • ROS 2

    rosservice call /set_int_parameter "{name: Scan2DExpectedGrayValue, value:20}"
    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: Scan2DExpectedGrayValue, value:20}"

  • 获取Scan2DExposureMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_exposure_mode
    ros2 service call /get_2d_exposure_mode mecheye_ros_interface/srv/Get2DExposureMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: Scan2DExposureMode}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: Scan2DExposureMode}"

  • 设置Scan2DExposureMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_exposure_mode "{value: HDR}"
    ros2 service call /set_2d_exposure_mode mecheye_ros_interface/srv/Set2DExposureMode "{value: HDR}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: Scan2DExposureMode, value: HDR}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: Scan2DExposureMode, value: HDR}"

  • 获取Scan2DHDRExposureSequence的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_exposure_sequence
    ros2 service call /get_2d_exposure_sequence mecheye_ros_interface/srv/Get2DExposureSequence

    • ROS 1

    • ROS 2

    rosservice call /get_float_array_parameter "{name: Scan2DHDRExposureSequence}"
    ros2 service call /get_float_array_parameter mecheye_ros_interface/srv/GetFloatArrayParameter "{name: Scan2DHDRExposureSequence}"

  • 设置Scan2DHDRExposureSequence的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_exposure_sequence "{sequence: [30.0,35.5,40.0]}"
    ros2 service call /set_2d_exposure_sequence mecheye_ros_interface/srv/Set2DExposureSequence "{sequence: [30.0,35.5,40.0]}"

    • ROS 1

    • ROS 2

    rosservice call /set_float_array_parameter "{name: Scan2DHDRExposureSequence, array: [30.0, 35.5, 40.0]}"
    ros2 service call /set_float_array_parameter mecheye_ros_interface/srv/SetFloatArrayParameter "{name: Scan2DHDRExposureSequence, array: [30.0, 35.5, 40.0]}"

  • 获取Scan2DExposureTime的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_exposure_time
    ros2 service call /get_2d_exposure_time mecheye_ros_interface/srv/Get2DExposureTime

    • ROS 1

    • ROS 2

    rosservice call /get_float_parameter "{name: Scan2DExposureTime}"
    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan2DExposureTime}"

  • 设置Scan2DExposureTime的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_exposure_time "{value: 35.5}"
    ros2 service call /set_2d_exposure_time mecheye_ros_interface/srv/Set2DExposureTime "{value: 35.5}"

    • ROS 1

    • ROS 2

    rosservice call /set_float_parameter "{name: Scan2DExposureTime, value: 35.5}"
    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan2DExposureTime, value: 35.5}"

  • 获取Scan2DROI的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_roi
    ros2 service call /get_2d_roi mecheye_ros_interface/srv/Get2DROI

    • ROS 1

    • ROS 2

    rosservice call /get_roi_parameter "{name: Scan2DROI}"
    ros2 service call /get_roi_parameter mecheye_ros_interface/srv/GetROIParameter "{name: Scan2DROI}"

  • 设置Scan2DROI的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_roi "{x: 20, y: 20, width: 600, height: 800}"
    ros2 service call /set_2d_roi mecheye_ros_interface/srv/Set2DROI "{x: 20, y: 20, width: 600, height: 800}"

    • ROS 1

    • ROS 2

    rosservice call /set_roi_parameter "{name: Scan2DROI, x: 20, y: 20, width: 600, height: 800}"
    ros2 service call /set_roi_parameter mecheye_ros_interface/srv/SetROIParameter "{name: Scan2DROI, x: 20, y: 20, width: 600, height: 800}"

  • 获取Scan2DSharpenFactor的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_sharpen_factor
    ros2 service call /get_2d_sharpen_factor mecheye_ros_interface/srv/Get2DSharpenFactor

    • ROS 1

    • ROS 2

    rosservice call /get_float_parameter "{name: Scan2DSharpenFactor}"
    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan2DSharpenFactor}"

  • 设置Scan2DSharpenFactor的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_sharpen_factor "{value: 0.5}"
    ros2 service call /set_2d_sharpen_factor mecheye_ros_interface/srv/Set2DSharpenFactor "{value: 0.5}"

    • ROS 1

    • ROS 2

    rosservice call /set_float_parameter "{name: Scan2DSharpenFactor, value: 0.5}"
    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan2DSharpenFactor, value: 0.5}"

  • 获取Scan2DToneMappingEnable的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_2d_tone_mapping
    ros2 service call /get_2d_tone_mapping mecheye_ros_interface/srv/Get2DToneMappingEnable

    • ROS 1

    • ROS 2

    rosservice call /get_bool_parameter "{name: Scan2DToneMappingEnable}"
    ros2 service call /get_bool_parameter mecheye_ros_interface/srv/GetBoolParameter "{name: Scan2DToneMappingEnable}"

  • 设置Scan2DToneMappingEnable的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_2d_tone_mapping "{value: True}"
    ros2 service call /set_2d_tone_mapping mecheye_ros_interface/srv/Set2DToneMappingEnable "{value: True}"

    • ROS 1

    • ROS 2

    rosservice call /set_bool_parameter "{name: Scan2DToneMappingEnable, value: True}"
    ros2 service call /set_bool_parameter mecheye_ros_interface/srv/SetBoolParameter "{name: Scan2DToneMappingEnable, value: True}"

  • 获取Scan3DExposureSequence的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_3d_exposure
    ros2 service call /get_3d_exposure mecheye_ros_interface/srv/Get3DExposure

    • ROS 1

    • ROS 2

    rosservice call /get_float_array_parameter "{name: Scan3DExposureSequence}"
    ros2 service call /get_float_array_parameter mecheye_ros_interface/srv/GetFloatArrayParameter "{name: Scan3DExposureSequence}"

  • 设置Scan3DExposureSequence的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_3d_exposure "{sequence: [30.0,35.5,40.0]}"
    ros2 service call /set_3d_exposure mecheye_ros_interface/srv/Set3DExposure "{sequence: [30.0,35.5,40.0]}"

    • ROS 1

    • ROS 2

    rosservice call /set_float_array_parameter "{name: Scan3DExposureSequence, array: [30.0, 35.5, 40.0]}"
    ros2 service call /set_float_array_parameter mecheye_ros_interface/srv/SetFloatArrayParameter "{name: Scan3DExposureSequence, array: [30.0, 35.5, 40.0]}"

  • 获取Scan3DGain的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_3d_gain
    ros2 service call /get_3d_gain mecheye_ros_interface/srv/Get3DGain

    • ROS 1

    • ROS 2

    rosservice call /get_float_parameter "{name: Scan3DGain}"
    ros2 service call /get_float_parameter mecheye_ros_interface/srv/GetFloatParameter "{name: Scan3DGain}"

  • 设置Scan3DGain的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_3d_gain "{value: 2.5}"
    ros2 service call /set_3d_gain mecheye_ros_interface/srv/Set3DGain "{value: 2.5}"

    • ROS 1

    • ROS 2

    rosservice call /set_float_parameter "{name: Scan3DGain, value: 2.5}"
    ros2 service call /set_float_parameter mecheye_ros_interface/srv/SetFloatParameter "{name: Scan3DGain, value: 2.5}"

  • 获取Scan3DROI的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_3d_roi
    ros2 service call /get_3d_roi mecheye_ros_interface/srv/Get3DROI

    • ROS 1

    • ROS 2

    rosservice call /get_roi_parameter "{name: Scan3DROI}"
    ros2 service call /get_roi_parameter mecheye_ros_interface/srv/GetROIParameter "{name: Scan3DROI}"

  • 设置Scan3DROI的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_3d_roi "{x: 20, y: 20, width: 600, height: 800}"
    ros2 service call /set_3d_roi mecheye_ros_interface/srv/Set3DROI "{x: 20, y: 20, width: 600, height: 800}"

    • ROS 1

    • ROS 2

    rosservice call /set_roi_parameter "{name: Scan3DROI, x: 20, y: 20, width: 600, height: 800}"
    ros2 service call /set_roi_parameter mecheye_ros_interface/srv/SetROIParameter "{name: Scan3DROI, x: 20, y: 20, width: 600, height: 800}"

  • 获取PointCloudOutlierRemoval的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_cloud_outlier_filter_mode
    ros2 service call /get_cloud_outlier_filter_mode mecheye_ros_interface/srv/GetCloudOutlierFilterMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: PointCloudOutlierRemoval}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: PointCloudOutlierRemoval}"

  • 设置PointCloudOutlierRemoval的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_cloud_outlier_filter_mode '!!str Off'
    ros2 service call /set_cloud_outlier_filter_mode mecheye_ros_interface/srv/SetCloudOutlierFilterMode "{value: 'Off'}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: PointCloudOutlierRemoval, value: 'Off'}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: PointCloudOutlierRemoval, value: 'Off'}"
    Off选项需置于单引号中。

  • 获取PointCloudSurfaceSmoothing的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_cloud_smooth_mode
    ros2 service call /get_cloud_smooth_mode mecheye_ros_interface/srv/GetCloudSmoothMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: PointCloudSurfaceSmoothing}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: PointCloudSurfaceSmoothing}"

  • 设置PointCloudSurfaceSmoothing的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_cloud_smooth_mode '!!str Off'
    ros2 service call /set_cloud_smooth_mode mecheye_ros_interface/srv/SetCloudSmoothMode "{value: 'Off'}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: PointCloudSurfaceSmoothing, value: 'Off'}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: PointCloudSurfaceSmoothing, value: 'Off'}"
    Off选项需置于单引号中。

  • 获取DepthRange的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_depth_range
    ros2 service call /get_depth_range mecheye_ros_interface/srv/GetDepthRange

    • ROS 1

    • ROS 2

    rosservice call /get_range_parameter "{name: DepthRange}"
    ros2 service call /get_range_parameter mecheye_ros_interface/srv/GetRangeParameter "{name: DepthRange}"

  • 设置DepthRange的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_depth_range "{lower: 300, upper: 1000}"
    ros2 service call /set_depth_range mecheye_ros_interface/srv/SetDepthRange "{lower: 300, upper: 1000}"

    • ROS 1

    • ROS 2

    rosservice call /set_range_parameter "{name: DepthRange, lower: 300, upper: 1000}"
    ros2 service call /set_range_parameter mecheye_ros_interface/srv/SetRangeParameter "{name: DepthRange, lower: 300, upper: 1000}"

  • 获取FringeContrastThreshold的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_fringe_contrast_threshold
    ros2 service call /get_fringe_contrast_threshold mecheye_ros_interface/srv/GetFringeContrastThreshold

    • ROS 1

    • ROS 2

    rosservice call /get_int_parameter "{name: FringeContrastThreshold}"
    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: FringeContrastThreshold}"

  • 设置FringeContrastThreshold的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_fringe_contrast_threshold "{value: 3}"
    ros2 service call /set_fringe_contrast_threshold mecheye_ros_interface/srv/SetFringeContrastThreshold "{value: 3}"

    • ROS 1

    • ROS 2

    rosservice call /set_int_parameter "{name: FringeContrastThreshold, value: 3}"
    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: FringeContrastThreshold, value: 3}"

  • 获取FringeMinThreshold的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_fringe_min_threshold
    ros2 service call /get_fringe_min_threshold mecheye_ros_interface/srv/GetFringeMinThreshold

    • ROS 1

    • ROS 2

    rosservice call /get_int_parameter "{name: FringeMinThreshold}"
    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: FringeMinThreshold}"

  • 设置FringeMinThreshold的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_fringe_min_threshold "{value: 3}"
    ros2 service call /set_fringe_min_threshold mecheye_ros_interface/srv/SetFringeMinThreshold "{value: 3}"

    • ROS 1

    • ROS 2

    rosservice call /set_int_parameter "{name: FringeMinThreshold, value: 3}"
    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: FringeMinThreshold, value: 3}"

  • 获取LaserPowerLevel的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_laser_settings
    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings
    该服务获取激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /get_int_parameter "{name: LaserPowerLevel}"
    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: LaserPowerLevel}"

  • 设置LaserPowerLevel的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    该服务设置激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /set_int_parameter "{name: LaserPowerLevel, value: 60}"
    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: LaserPowerLevel, value: 60}"

  • 获取LaserFringeCodingMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_laser_settings
    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings
    该服务获取激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: LaserFringeCodingMode}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: LaserFringeCodingMode}"

  • 设置LaserFringeCodingMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    该服务设置激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: LaserFringeCodingMode, value: Fast}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: LaserFringeCodingMode, value: Fast}"

  • 获取LaserFrameRange的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_laser_settings
    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings
    该服务获取激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /get_range_parameter "{name: LaserFrameRange}"
    ros2 service call /get_range_parameter mecheye_ros_interface/srv/GetRangeParameter "{name: LaserFrameRange}"

  • 设置LaserFrameRange的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    该服务设置激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /set_range_parameter "{name: LaserFrameRange, lower: 20, upper: 80}"
    ros2 service call /set_range_parameter mecheye_ros_interface/srv/SetRangeParameter "{name: LaserFrameRange, lower: 20, upper: 80}"

  • 获取LaserFramePartitionCount的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_laser_settings
    ros2 service call /get_laser_settings mecheye_ros_interface/srv/GetLaserSettings
    该服务获取激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /get_int_parameter "{name: LaserFramePartitionCount}"
    ros2 service call /get_int_parameter mecheye_ros_interface/srv/GetIntParameter "{name: LaserFramePartitionCount}"

  • 设置LaserFramePartitionCount的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_laser_settings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    ros2 service call /set_laser_settings mecheye_ros_interface/srv/SetLaserSettings "{fringe_coding_mode: Fast, frame_range_start: 20, frame_range_end: 80, frame_partition_count: 2, power_level: 60}"
    该服务设置激光分组下所有参数的值。

    • ROS 1

    • ROS 2

    rosservice call /set_int_parameter "{name: LaserFramePartitionCount, value: 2}"
    ros2 service call /set_int_parameter mecheye_ros_interface/srv/SetIntParameter "{name: LaserFramePartitionCount, value: 2}"

  • 获取AntiFlickerMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_projector_anti_flicker_mode
    ros2 service call /get_projector_anti_flicker_mode mecheye_ros_interface/srv/GetProjectorAntiFlickerMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: AntiFlickerMode}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: AntiFlickerMode}"

  • 设置AntiFlickerMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_projector_anti_flicker_mode '!!str Off'
    ros2 service call /set_projector_anti_flicker_mode mecheye_ros_interface/srv/SetProjectorAntiFlickerMode "{value: 'Off'}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: AntiFlickerMode, value: 'Off'}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: AntiFlickerMode, value: 'Off'}"
    Off选项需置于单引号中。

  • 获取ProjectorFringeCodingMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    • UHP-140以外的型号：

    rosservice call /get_projector_fringe_coding_mode

    • UHP-140：

    rosservice call /get_uhp_fringe_coding_mode

    • UHP-140以外的型号：

    ros2 service call /get_projector_fringe_coding_mode mecheye_ros_interface/srv/GetProjectorFringeCodingMode

    • UHP-140：

    ros2 service call /get_uhp_fringe_coding_mode mecheye_ros_interface/srv/GetUhpFringeCodingMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: ProjectorFringeCodingMode}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: ProjectorFringeCodingMode}"

  • 设置ProjectorFringeCodingMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    • UHP-140以外的型号：

    rosservice call /set_projector_fringe_coding_mode "{value: Accurate}"

    • UHP-140：

    rosservice call /set_uhp_fringe_coding_mode "{value: Accurate}"

    • UHP-140以外的型号：

    ros2 service call /set_projector_fringe_coding_mode mecheye_ros_interface/srv/SetProjectorFringeCodingMode "{value: Accurate}"

    • UHP-140：

    ros2 service call /set_uhp_fringe_coding_mode mecheye_ros_interface/srv/SetUhpFringeCodingMode "{value: Accurate}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: ProjectorFringeCodingMode, value: Accurate}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: ProjectorFringeCodingMode, value: Accurate}"

  • 获取ProjectorPowerLevel的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_projector_power_level
    ros2 service call /get_projector_power_level mecheye_ros_interface/srv/GetProjectorPowerLevel

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: ProjectorPowerLevel}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: ProjectorPowerLevel}"

  • 设置ProjectorPowerLevel的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_projector_power_level "{value: High}"
    ros2 service call /set_projector_power_level mecheye_ros_interface/srv/SetProjectorPowerLevel "{value: High}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: ProjectorPowerLevel, value: High}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: ProjectorPowerLevel, value: High}"

  • 获取UhpCaptureMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /get_uhp_capture_mode
    ros2 service call /get_uhp_capture_mode mecheye_ros_interface/srv/GetUhpCaptureMode

    • ROS 1

    • ROS 2

    rosservice call /get_enum_parameter "{name: UhpCaptureMode}"
    ros2 service call /get_enum_parameter mecheye_ros_interface/srv/GetEnumParameter "{name: UhpCaptureMode}"

  • 设置UhpCaptureMode的值：

    2.0.2及以下 2.3.4及以上

    • ROS 1

    • ROS 2

    rosservice call /set_uhp_capture_mode "{capture_mode: Merge}"
    ros2 service call /set_uhp_capture_mode mecheye_ros_interface/srv/SetUhpCaptureMode "{capture_mode: Merge}"

    • ROS 1

    • ROS 2

    rosservice call /set_enum_parameter "{name: UhpCaptureMode, value: Merge}"
    ros2 service call /set_enum_parameter mecheye_ros_interface/srv/SetEnumParameter "{name: UhpCaptureMode, value: Merge}"

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