[ERROR] get gain error Property is not supported! propertyId: 2018/2027

[yuukireina05]

你好，我正在使用设备Femto Bolt并在我的ROS系统上成功运行了这个ROS驱动。 运行是成功的，也能通过RVIZ可视化点云，但是在log里面出现了两个错误

[ERROR] [1706263552.921097452]: get gain error Property is not supported! propertyId: 2018
[ERROR] [1706263552.921116392]: get gain error Property is not supported! propertyId: 2027

想询问一下产生这个错误的原因是什么？ 完整的log如下

started roslaunch server http://xiaofeng-lab-workstation:37959/

SUMMARY
========

PARAMETERS
 * /camera/orbbec_camera/accel_range: 4g
 * /camera/orbbec_camera/accel_rate: 100hz
 * /camera/orbbec_camera/angular_vel_cov: 0.01
 * /camera/orbbec_camera/camera_name: camera
 * /camera/orbbec_camera/color_delay_us: 0
 * /camera/orbbec_camera/color_format: MJPG
 * /camera/orbbec_camera/color_fps: 25
 * /camera/orbbec_camera/color_height: 960
 * /camera/orbbec_camera/color_info_uri: 
 * /camera/orbbec_camera/color_width: 1280
 * /camera/orbbec_camera/connection_delay: 100
 * /camera/orbbec_camera/depth_delay_us: 0
 * /camera/orbbec_camera/depth_format: Y16
 * /camera/orbbec_camera/depth_fps: 25
 * /camera/orbbec_camera/depth_height: 576
 * /camera/orbbec_camera/depth_registration: True
 * /camera/orbbec_camera/depth_width: 640
 * /camera/orbbec_camera/device_num: 1
 * /camera/orbbec_camera/enable_accel: False
 * /camera/orbbec_camera/enable_color: True
 * /camera/orbbec_camera/enable_color_auto_exposure: True
 * /camera/orbbec_camera/enable_colored_point_cloud: True
 * /camera/orbbec_camera/enable_d2c_viewer: False
 * /camera/orbbec_camera/enable_depth: True
 * /camera/orbbec_camera/enable_frame_sync: False
 * /camera/orbbec_camera/enable_gyro: False
 * /camera/orbbec_camera/enable_ir: True
 * /camera/orbbec_camera/enable_ir_auto_exposure: True
 * /camera/orbbec_camera/enable_pipeline: True
 * /camera/orbbec_camera/enable_point_cloud: True
 * /camera/orbbec_camera/enable_soft_filter: True
 * /camera/orbbec_camera/enable_sync_output_accel_gyro: True
 * /camera/orbbec_camera/flip_color: False
 * /camera/orbbec_camera/flip_depth: False
 * /camera/orbbec_camera/flip_ir: False
 * /camera/orbbec_camera/gyro_range: 1000dps
 * /camera/orbbec_camera/gyro_rate: 100hz
 * /camera/orbbec_camera/ir_format: Y16
 * /camera/orbbec_camera/ir_fps: 25
 * /camera/orbbec_camera/ir_height: 576
 * /camera/orbbec_camera/ir_info_uri: 
 * /camera/orbbec_camera/ir_width: 640
 * /camera/orbbec_camera/liner_accel_cov: 0.01
 * /camera/orbbec_camera/log_level: none
 * /camera/orbbec_camera/product_id: 
 * /camera/orbbec_camera/publish_tf: True
 * /camera/orbbec_camera/serial_number: 
 * /camera/orbbec_camera/sync_mode: free_run
 * /camera/orbbec_camera/tf_publish_rate: 10.0
 * /camera/orbbec_camera/trigger2image_delay_us: 0
 * /camera/orbbec_camera/trigger_out_delay_us: 0
 * /camera/orbbec_camera/trigger_out_enabled: False
 * /camera/orbbec_camera/usb_port: 
 * /camera/orbbec_camera/vendor_id: 0x2bc5
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /camera/
    orbbec_camera (nodelet/nodelet)
    orbbec_camera_manager (nodelet/nodelet)

auto-starting new master
process[master]: started with pid [261818]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 79cfa622-bc32-11ee-a275-175379641319
process[rosout-1]: started with pid [261859]
started core service [/rosout]
process[camera/orbbec_camera_manager-2]: started with pid [261866]
process[camera/orbbec_camera-3]: started with pid [261867]
[ INFO] [1706263547.730849858]: Loading nodelet /camera/orbbec_camera of type orbbec_camera/OBCameraNodelet to manager orbbec_camera_manager with the following remappings:
[ INFO] [1706263547.731332068]: /camera/depth/color/points -> /camera/depth_registered/points
[ INFO] [1706263547.732323548]: waitForService: Service [/camera/orbbec_camera_manager/load_nodelet] has not been advertised, waiting...
[ INFO] [1706263547.737022496]: Initializing nodelet with 32 worker threads.
[ INFO] [1706263547.753135442]: waitForService: Service [/camera/orbbec_camera_manager/load_nodelet] is now available.
[01/26 19:05:47.761933][info][261866][Context.cpp:67] Context created with config: /home/xiaofeng/git/moonshot_robot_pc/catkin_ws/src/OrbbecSDK_ROS1/config/OrbbecSDKConfig_v1.0.xml
[01/26 19:05:47.761943][info][261866][Context.cpp:72] Context work_dir=/home/xiaofeng/.ros
[01/26 19:05:47.858672][info][261866][LinuxPal.cpp:112] Create PollingDeviceWatcher!
[01/26 19:05:47.858702][info][261866][DeviceManager.cpp:15] Current found device(s): (1)
[01/26 19:05:47.858709][info][261866][DeviceManager.cpp:24] 	- Name: Femto Bolt, PID: 0x066b, SN/ID: CL8S93P000Y, Connection: USB3.1
[ INFO] [1706263547.861792244]: queryDevice: first query device
[ INFO] [1706263547.861830714]: deviceConnectCallback : deviceConnectCallback start
[ INFO] [1706263547.961929869]: deviceConnectCallback : Before process lock lock
[ INFO] [1706263547.961956379]: deviceConnectCallback : After process lock lock
[ INFO] [1706263547.961968499]: deviceConnectCallback : selectDevice start
[ INFO] [1706263547.961988119]: Connecting to the default device
[ INFO] [1706263548.831082156]: deviceConnectCallback : selectDevice end
[ INFO] [1706263548.853409761]:  stream depth is enabled - width: 640, height: 576, fps: 25, Format: Y16
[ INFO] [1706263548.853638160]:  stream ir is enabled - width: 640, height: 576, fps: 25, Format: Y16
[ INFO] [1706263548.854967910]:  stream color is enabled - width: 1280, height: 960, fps: 25, Format: MJPG
[ INFO] [1706263548.858058129]: set align mode:  ALIGN_D2C_SW_MODE
[ INFO] [1706263549.348437605]: Create color frame read thread.
[ WARN] [1706263552.907535865]: Publishing dynamic camera transforms (/tf) at 10 Hz
[ INFO] [1706263552.917484933]: Stream left_ir is disabled.
[ INFO] [1706263552.917503923]: Stream right_ir is disabled.
[ INFO] [1706263552.920600672]: stream depth exposure 125
[ INFO] [1706263552.920827992]: stream ir exposure 125
[ INFO] [1706263552.920993472]: stream color exposure 200
[ERROR] [1706263552.921097452]: get gain error Property is not supported! propertyId: 2018
[ERROR] [1706263552.921116392]: get gain error Property is not supported! propertyId: 2027
[ INFO] [1706263552.921282702]: stream color gain 0
[ INFO] [1706263552.921443372]: stream color wb 6500
[ INFO] [1706263552.921484632]: Device Femto Bolt connected
[ INFO] [1706263552.921495472]: Serial number: CL8S93P000Y
[ INFO] [1706263552.921504132]: Firmware version: 1.0.6
[ INFO] [1706263552.921512232]: Hardware version: 1.2
[ INFO] [1706263552.921518552]: device uid: 6-4-2
[ INFO] [1706263552.921526192]: deviceConnectCallback : deviceConnectCallback end
[ INFO] [1706263621.150552136]: rgb point cloud subscribed
[ INFO] [1706263621.150590487]: Image stream depth subscribed
[ INFO] [1706263621.150619347]: set align mode:  ALIGN_D2C_SW_MODE
[ INFO] [1706263621.297080832]: Image stream color subscribed
[ INFO] [1706263621.297112613]: pipe line already started
[ INFO] [1706263714.153176107]: point cloud unsubscribed
[ INFO] [1706263714.153212487]: Image stream depth unsubscribed
[ INFO] [1706263716.664619292]: Image stream color unsubscribed
[ INFO] [1706263716.664668983]: imageUnsubscribedCallback pipe line not start
^C[camera/orbbec_camera-3] killing on exit
[camera/orbbec_camera_manager-2] killing on exit
[ INFO] [1706263717.480986844]: Unloading nodelet /camera/orbbec_camera from manager orbbec_camera_manager
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done