PR #2948 from Arun-Prasad-V: Disabling HDR during INIT

IntelRealSense · Dec 18, 2023 · 7bf5176 · 7bf5176
2 parents 734f92a + 4610843
commit 7bf5176
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Showing 2 changed files with 16 additions and 1 deletion.
diff --git a/realsense2_camera/src/dynamic_params.cpp b/realsense2_camera/src/dynamic_params.cpp
@@ -151,7 +151,14 @@ namespace realsense2_camera
             };
         if (result_value != initial_value && func)
         {
-            func(rclcpp::Parameter(param_name, result_value));
+            try
+            {
+                func(rclcpp::Parameter(param_name, result_value));
+            }
+            catch(const std::exception& e)
+            {
+                ROS_WARN_STREAM("Set parameter {" << param_name << "} failed: " << e.what());
+            } 
         }
         return result_value;
     }

diff --git a/realsense2_camera/src/ros_sensor.cpp b/realsense2_camera/src/ros_sensor.cpp
@@ -85,6 +85,14 @@ RosSensor::~RosSensor()
 void RosSensor::setParameters(bool is_rosbag_file)
 {
     std::string module_name = create_graph_resource_name(rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)));
+
+    // From FW version 5.14.x.x, if HDR is enabled, updating UVC controls like exposure, gain , etc are restricted.
+    // So, during init of the node, forcefully disabling the HDR upfront and update it with new values.
+    if((!is_rosbag_file) && supports(RS2_OPTION_HDR_ENABLED))
+    {
+        set_option(RS2_OPTION_HDR_ENABLED, false);
+    }
+
     _params.registerDynamicOptions(*this, module_name);
 
     // for rosbag files, don't set hdr(sequence_id) / gain / exposure options