From 0e1de87aa77c44ed063a6f8c783fb8b7168effaf Mon Sep 17 00:00:00 2001 From: slz Date: Thu, 9 Jul 2026 09:42:19 +0800 Subject: [PATCH] fix: lock LRM distance topic property reads --- orbbec_camera/src/ob_camera_node.cpp | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp index 46c67014..bf287532 100644 --- a/orbbec_camera/src/ob_camera_node.cpp +++ b/orbbec_camera/src/ob_camera_node.cpp @@ -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 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,