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fix: lock LRM distance topic property reads

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slz
2026-07-09 09:42:19 +08:00
parent 95cb9a140a
commit 0e1de87aa7
1 changed files with 4 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+4 -1
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@@ -1612,7 +1612,10 @@ void OBCameraNode::publishLrmObstacleDistance() {
}
try {
std_msgs::msg::Int32 msg;
msg.data = device_->getIntProperty(OB_PROP_LDP_MEASURE_DISTANCE_INT);
{
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
msg.data = device_->getIntProperty(OB_PROP_LDP_MEASURE_DISTANCE_INT);
}
lrm_obstacle_distance_pub_->publish(msg);
} catch (const ob::Error &e) {
RCLCPP_WARN_THROTTLE(logger_, *node_->get_clock(), 5000,