PR #2603 from SamerKhshiboun: Fix hdr_merge filter initialization in …

…ros2 launch
IntelRealSense · Jan 25, 2023 · a7da782 · a7da782
2 parents 14ef318 + e26bb4c
commit a7da782
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/realsense2_camera/launch/rs_launch.py b/realsense2_camera/launch/rs_launch.py
@@ -53,10 +53,12 @@
                            {'name': 'diagnostics_period',           'default': '0.0', 'description': 'Rate of publishing diagnostics. 0=Disabled'},
                            {'name': 'decimation_filter.enable',     'default': 'false', 'description': 'Rate of publishing static_tf'},
                            {'name': 'rosbag_filename',              'default': "''", 'description': 'A realsense bagfile to run from as a device'},
-                           {'name': 'depth_module.exposure.1',     'default': '7500', 'description': 'Initial value for hdr_merge filter'},
-                           {'name': 'depth_module.gain.1',         'default': '16', 'description': 'Initial value for hdr_merge filter'},
-                           {'name': 'depth_module.exposure.2',     'default': '1', 'description': 'Initial value for hdr_merge filter'},
-                           {'name': 'depth_module.gain.2',         'default': '16', 'description': 'Initial value for hdr_merge filter'},
+                           {'name': 'depth_module.exposure.1',      'default': '7500', 'description': 'Depth module first exposure value. Used for hdr_merge filter'},
+                           {'name': 'depth_module.gain.1',          'default': '16', 'description': 'Depth module first gain value. Used for hdr_merge filter'},
+                           {'name': 'depth_module.exposure.2',      'default': '1', 'description': 'Depth module second exposure value. Used for hdr_merge filter'},
+                           {'name': 'depth_module.gain.2',          'default': '16', 'description': 'Depth module second gain value. Used for hdr_merge filter'},
+                           {'name': 'depth_module.hdr_enabled',     'default': 'false', 'description': 'Depth module hdr enablement flag. Used for hdr_merge filter'},
+                           {'name': 'hdr_merge.enable',             'default': 'false', 'description': 'hdr_merge filter enablement flag'},
                            {'name': 'wait_for_device_timeout',      'default': '-1.', 'description': 'Timeout for waiting for device to connect (Seconds)'},
                            {'name': 'reconnect_timeout',            'default': '6.', 'description': 'Timeout(seconds) between consequtive reconnection attempts'},
                           ]