fixed set ir mirror

orbbec_camera/src/ros_service.cpp

@@ -1,18 +1,18 @@
 /*******************************************************************************
-* Copyright (c) 2023 Orbbec 3D Technology, Inc
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
+ * Copyright (c) 2023 Orbbec 3D Technology, Inc
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *******************************************************************************/
 
 #include "orbbec_camera/ob_camera_node.h"
 #include <rclcpp/rclcpp.hpp>
@@ -156,7 +156,7 @@ void OBCameraNode::setupCameraCtrlServices() {
       });
   switch_ir_camera_srv_ = node_->create_service<SetString>(
       "switch_ir", [this](const std::shared_ptr<SetString::Request> request,
-                                 std::shared_ptr<SetString::Response> response) {
+                          std::shared_ptr<SetString::Response> response) {
         switchIRCameraCallback(request, response);
       });
 }
@@ -462,7 +462,6 @@ void OBCameraNode::getExposureCallback(const std::shared_ptr<GetInt32::Request>&
   auto stream = stream_index.first;
   try {
     switch (stream) {
-      case OB_STREAM_IR_LEFT:
       case OB_STREAM_IR_RIGHT:
       case OB_STREAM_IR:
         response->data = device_->getIntProperty(OB_PROP_IR_EXPOSURE_INT);
@@ -545,8 +544,9 @@ void OBCameraNode::setMirrorCallback(const std::shared_ptr<SetBool::Request>& re
   auto stream = stream_index.first;
   try {
     switch (stream) {
-      case OB_STREAM_IR_LEFT:
       case OB_STREAM_IR_RIGHT:
+        device_->setBoolProperty(OB_PROP_IR_RIGHT_MIRROR_BOOL, request->data);
+      case OB_STREAM_IR_LEFT:
       case OB_STREAM_IR:
         device_->setBoolProperty(OB_PROP_IR_MIRROR_BOOL, request->data);
         break;