# Available services

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](./launch_parameters.md)) 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.

## Color Stream

* `/camera/get_color_camera_info`

```bash
rosservice call /camera/get_color_camera_info
```

* `/camera/get_color_exposure`

```bash
rosservice call /camera/get_color_exposure
```

* `/camera/get_color_gain`

```bash
rosservice call /camera/get_color_gain
```

* `/camera/set_color_auto_exposure`

```bash
rosservice call /camera/set_color_auto_exposure 1
```

* `/camera/get_color_auto_exposure`

```bash
rosservice call /camera/get_color_auto_exposure
```

* `/camera/set_color_exposure`

```bash
rosservice call /camera/set_color_exposure 100
```

* `/camera/reset_color_exposure`

```bash
rosservice call /camera/reset_color_exposure
```

* `/camera/set_color_gain`

```bash
rosservice call /camera/set_color_gain 16
```

* `/camera/reset_color_gain`

```bash
rosservice call /camera/reset_color_gain
```

* `/camera/set_color_ae_roi`

```bash
# 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`

```bash
rosservice call /camera/set_color_mirror 1
```

* `/camera/toggle_color`

```bash
rosservice call /camera/toggle_color 1
```

## Depth Stream

* `/camera/get_depth_camera_info`

```bash
rosservice call /camera/get_depth_camera_info
```

* `/camera/get_depth_exposure`

```bash
rosservice call /camera/get_depth_exposure
```

* `/camera/reset_depth_exposure`

```bash
rosservice call /camera/reset_depth_exposure
```

* `/camera/get_depth_gain`

```bash
rosservice call /camera/get_depth_gain
```

* `/camera/reset_depth_gain`

```bash
rosservice call /camera/reset_depth_gain
```

* `/camera/set_depth_auto_exposure`

```bash
rosservice call /camera/set_depth_auto_exposure 1
```

* `/camera/get_depth_auto_exposure`

```bash
rosservice call /camera/get_depth_auto_exposure
```

* `/camera/set_depth_exposure`

```bash
rosservice call /camera/set_depth_exposure 3000
```

* `/camera/set_depth_gain`

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

* `/camera/set_depth_ae_roi`

```bash
# 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`

```bash
rosservice call /camera/set_depth_mirror 1
```

* `/camera/toggle_depth`

```bash
rosservice call /camera/toggle_depth 1
```

## IR Stream

* `/camera/get_ir_camera_info`

```bash
rosservice call /camera/get_ir_camera_info
```

* `/camera/get_ir_exposure`

```bash
rosservice call /camera/get_ir_exposure
```

* `/camera/reset_ir_exposure`

```bash
rosservice call /camera/reset_ir_exposure
```

* `/camera/get_ir_gain`

```bash
rosservice call /camera/get_ir_gain
```

* `/camera/reset_ir_gain`

```bash
rosservice call /camera/reset_ir_gain
```

* `/camera/set_ir_auto_exposure`

```bash
rosservice call /camera/set_ir_auto_exposure 1
```

* `/camera/set_ir_exposure`

```bash
rosservice call /camera/set_ir_exposure 3000
```

* `/camera/set_ir_gain`

```bash
rosservice call /camera/set_ir_gain 64
```

* `/camera/set_ir_mirror`

```bash
rosservice call /camera/set_ir_mirror 1
```

* `/camera/switch_ir`

```bash
rosservice call /camera/switch_ir left
```

* `/camera/toggle_ir`

```bash
rosservice call /camera/toggle_ir 1
```

## Sensor & Emitter Control

* `/camera/get_auto_white_balance`

```bash
rosservice call /camera/get_auto_white_balance
```

* `/camera/set_auto_white_balance`

```bash
rosservice call /camera/set_auto_white_balance 1
```

* `/camera/get_white_balance`

```bash
rosservice call /camera/get_white_balance
```

* `/camera/reset_white_balance`

```bash
rosservice call /camera/reset_white_balance
```

* `/camera/set_laser`

```bash
rosservice call /camera/set_laser 1
```

* `/camera/get_laser_status`
```bash
rosservice call /camera/get_laser_status
```

* `/camera/set_ldp`

```bash
rosservice call /camera/set_ldp 1
```

* `/camera/get_ldp_status`

```bash
rosservice call /camera/get_ldp_status
```

* `/camera/get_lrm_measure_distance`

```bash
rosservice call /camera/get_lrm_measure_distance
```

* `/camera/set_flood`

```bash
rosservice call /camera/set_flood 1
```

* `/camera/set_fan_work_mode`

```bash
rosservice call /camera/set_fan_work_mode 1
```

## Device Information & Management

* `/camera/get_device_info`

```bash
rosservice call /camera/get_device_info
```

* `/camera/get_device_type`

```bash
rosservice call /camera/get_device_type
```

* `/camera/get_serial`

```bash
rosservice call /camera/get_serial
```

* `/camera/get_sdk_version`

```bash
rosservice call /camera/get_sdk_version
```

* `/camera/get_camera_params`

```bash
rosservice call /camera/get_camera_params
```

* `/camera/export_config_json`

```bash
rosservice call /camera/export_config_json "data: '/tmp/orbbec_camera_config.json'"
```

* `/camera/reboot_device`

```bash
rosservice call /camera/reboot_device
```

## Synchronization

* `/camera/get_ptp_config`

```bash
rosservice call /camera/get_ptp_config
```

* `/camera/set_ptp_config`

```bash
rosservice call /camera/set_ptp_config true
```

## Disparity Configuration

* `/camera/set_disparity_range_mode`

```bash
rosservice call /camera/set_disparity_range_mode 1
```

* `/camera/set_disparity_search_offset`

```bash
rosservice call /camera/set_disparity_search_offset 0
```

## AE Configuration

* `/camera/set_ae_reference_stream`

```bash
rosservice call /camera/set_ae_reference_stream color
```

* `/camera/set_ae_strategy`

```bash
rosservice call /camera/set_ae_strategy motion
```

## Depth Filter Configuration

* `/camera/set_filter`

```bash
# filter_name is the filter name, and filter_enable indicates whether the filter is enabled.
# filter_param is the legacy positional parameter form; filter_config is the new named parameter form.
# filter_param and filter_config cannot be used at the same time.

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

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

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

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

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

# Set HardwareNoiseRemoval: [threshold]
rosservice call /camera/set_filter '{filter_name: HardwareNoiseRemoval, filter_enable: true, filter_param: [0.2]}'

# 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]}'

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

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

# Tune filters with named parameters
rosservice call /camera/set_filter "{filter_name: NoiseRemovalFilter, filter_enable: true, filter_config: [{name: min_diff, value: '256'}, {name: max_size, value: '80'}]}"
rosservice call /camera/set_filter "{filter_name: HardwareNoiseRemovalFilter, filter_enable: true, filter_config: [{name: threshold, value: '0.2'}]}"
rosservice call /camera/set_filter "{filter_name: SpatialAdvancedFilter, filter_enable: true, filter_config: [{name: alpha, value: '0.5'}, {name: disp_diff, value: '160'}, {name: magnitude, value: '1'}, {name: radius, value: '8'}]}"
```

## Data Capture & Calibration Management

* `/camera/get_color_camera_info`

```bash
rosservice call /camera/get_color_camera_info
```

* `/camera/get_depth_camera_info`

```bash
rosservice call /camera/get_depth_camera_info
```

* `/camera/get_ir_camera_info`

```bash
rosservice call /camera/get_ir_camera_info
```

* `/camera/save_images`

```bash
rosservice call /camera/save_images
```

* `/camera/save_point_cloud`

```bash
rosservice call /camera/save_point_cloud
```