4.2. All available services for camera control

The service names intuitively reflect their purposes. It’s crucial to understand that services related to setting or getting parameters—denoted as set_* and get_*—become available only when the respective enable_* parameters are activated. For instance, enabling features such as left infrared (IR) with enable_left_ir, right IR with enable_right_ir, depth sensing with enable_depth, or color processing with enable_color (refer to Launch Parameters) is a prerequisite for their corresponding services to be operational. This configuration ensures that services are accessible only when their specific stream is enabled in the launch file’s stream argument.

4.2.1. Color Stream

/camera/get_color_camera_info

rosservice call /camera/get_color_camera_info

/camera/get_color_exposure

rosservice call /camera/get_color_exposure

/camera/get_color_gain

rosservice call /camera/get_color_gain

/camera/set_color_auto_exposure

rosservice call /camera/set_color_auto_exposure 1

/camera/get_color_auto_exposure

rosservice call /camera/get_color_auto_exposure

/camera/set_color_exposure

rosservice call /camera/set_color_exposure 100

/camera/reset_color_exposure

rosservice call /camera/reset_color_exposure

/camera/set_color_gain

rosservice call /camera/set_color_gain 16

/camera/reset_color_gain

rosservice call /camera/reset_color_gain

/camera/set_color_ae_roi

# In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
rosservice call /camera/set_color_ae_roi '{data_param:[0,1279,0,719]}'

/camera/set_color_mirror

rosservice call /camera/set_color_mirror 1

/camera/toggle_color

rosservice call /camera/toggle_color 1

4.2.2. Depth Stream

/camera/get_depth_camera_info

rosservice call /camera/get_depth_camera_info

/camera/get_depth_exposure

rosservice call /camera/get_depth_exposure

/camera/reset_depth_exposure

rosservice call /camera/reset_depth_exposure

/camera/get_depth_gain

rosservice call /camera/get_depth_gain

/camera/reset_depth_gain

rosservice call /camera/reset_depth_gain

/camera/set_depth_auto_exposure

rosservice call /camera/set_depth_auto_exposure 1

/camera/get_depth_auto_exposure

rosservice call /camera/get_depth_auto_exposure

/camera/set_depth_exposure

rosservice call /camera/set_depth_exposure 3000

/camera/set_depth_gain

# v2 version is not supported yet
rosservice call /camera/set_depth_gain 64

/camera/set_depth_ae_roi

# In data_param, the first value is the Left setting, the second value is the Right setting, the third value is the Top setting, and the fourth value is the Bottom setting.
rosservice call /camera/set_depth_ae_roi '{data_param:[0,1279,0,719]}'

/camera/set_depth_mirror

rosservice call /camera/set_depth_mirror 1

/camera/toggle_depth

rosservice call /camera/toggle_depth 1

4.2.3. IR Stream

/camera/get_ir_camera_info

rosservice call /camera/get_ir_camera_info

/camera/get_ir_exposure

rosservice call /camera/get_ir_exposure

/camera/reset_ir_exposure

rosservice call /camera/reset_ir_exposure

/camera/get_ir_gain

rosservice call /camera/get_ir_gain

/camera/reset_ir_gain

rosservice call /camera/reset_ir_gain

/camera/set_ir_auto_exposure

rosservice call /camera/set_ir_auto_exposure 1

/camera/set_ir_exposure

rosservice call /camera/set_ir_exposure 3000

/camera/set_ir_gain

rosservice call /camera/set_ir_gain 64

/camera/set_ir_mirror

rosservice call /camera/set_ir_mirror 1

/camera/switch_ir

rosservice call /camera/switch_ir left

/camera/toggle_ir

rosservice call /camera/toggle_ir 1

4.2.4. Sensor & Emitter Control

/camera/get_auto_white_balance

rosservice call /camera/get_auto_white_balance

/camera/set_auto_white_balance

rosservice call /camera/set_auto_white_balance 1

/camera/get_white_balance

rosservice call /camera/get_white_balance

/camera/reset_white_balance

rosservice call /camera/reset_white_balance

/camera/set_laser

rosservice call /camera/set_laser 1

/camera/set_ldp

rosservice call /camera/set_ldp 1

/camera/get_ldp_status

rosservice call /camera/get_ldp_status

/camera/get_lrm_measure_distance

rosservice call /camera/get_lrm_measure_distance

/camera/set_flood

rosservice call /camera/set_flood 1

/camera/set_fan_work_mode

rosservice call /camera/set_fan_work_mode 1

4.2.5. Device Information & Management

/camera/get_device_info

rosservice call /camera/get_device_info

/camera/get_device_type

rosservice call /camera/get_device_type

/camera/get_serial

rosservice call /camera/get_serial

/camera/get_sdk_version

rosservice call /camera/get_sdk_version

/camera/get_camera_params

rosservice call /camera/get_camera_params

/camera/reboot_device

rosservice call /camera/reboot_device

4.2.6. Synchronization

/camera/get_ptp_config

rosservice call /camera/get_ptp_config

/camera/set_ptp_config

rosservice call /camera/set_ptp_config true

4.2.7. Depth Filter Configuration

/camera/set_filter

# filter_name is the filter name, filter_enable is whether to enable the filter switch, and filter_param is the filter parameter

# Set DecimationFilter
rosservice call /camera/set_filter '{filter_name: DecimationFilter, filter_enable: false, filter_param: [5]}'

# Set SpatialAdvancedFilter
rosservice call /camera/set_filter '{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_param: [0.5,160,1,8]}'

# Set SequenceIdFilter
rosservice call /camera/set_filter '{filter_name: SequenceIdFilter, filter_enable: true, filter_param: [1]}'

# Set ThresholdFilter
rosservice call /camera/set_filter '{filter_name: ThresholdFilter, filter_enable: true, filter_param: [0,15999]}'

# Set NoiseRemovalFilter
rosservice call /camera/set_filter '{filter_name: NoiseRemovalFilter, filter_enable: true, filter_param: [256,80]}'

# Set HardwareNoiseRemoval
rosservice call /camera/set_filter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: []}'

# Set SpatialFastFilter: [radius]
rosservice call /camera/set_filter '{filter_name: SpatialFastFilter, filter_enable: true, filter_param: [4]}'

# Set SpatialModerateFilter: [disp_diff, magnitude, radius]
rosservice call /camera/set_filter '{filter_name: SpatialModerateFilter, filter_enable: true, filter_param: [160,1,3]}'

4.2.8. Data Capture & Calibration Management

/camera/get_color_camera_info

rosservice call /camera/get_color_camera_info

/camera/get_depth_camera_info

rosservice call /camera/get_depth_camera_info

/camera/get_ir_camera_info

rosservice call /camera/get_ir_camera_info

/camera/save_images

rosservice call /camera/save_images

/camera/save_point_cloud

rosservice call /camera/save_point_cloud