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uncomment IMU code

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This commit is contained in:
Joe Dong
2023-07-06 15:58:53 +08:00
parent 450d1c4da2
commit 0f74de9158
1 changed files with 10 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+10 -9
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@@ -298,6 +298,7 @@ void OBCameraNode::stopIMU() {
for (const auto& stream_index : HID_STREAMS) {
if (imu_started_[stream_index]) {
CHECK(sensors_.count(stream_index));
RCLCPP_INFO_STREAM(logger_, "stop " << stream_name_[stream_index] << " stream");
sensors_[stream_index]->stop();
imu_started_[stream_index] = false;
}
@@ -473,15 +474,15 @@ void OBCameraNode::setupPublishers() {
topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile),
camera_info_qos_profile));
}
// for (const auto& stream_index : HID_STREAMS) {
// if (!enable_stream_[stream_index]) {
// continue;
// }
// std::string data_topic_name = stream_name_[stream_index] + "/sample";
// auto data_qos = getRMWQosProfileFromString(imu_qos_[stream_index]);
// imu_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Imu>(
// data_topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
// }
for (const auto& stream_index : HID_STREAMS) {
if (!enable_stream_[stream_index]) {
continue;
}
std::string data_topic_name = stream_name_[stream_index] + "/sample";
auto data_qos = getRMWQosProfileFromString(imu_qos_[stream_index]);
imu_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Imu>(
data_topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
}
if (enable_publish_extrinsic_) {
extrinsics_publisher_ = node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"extrinsic/depth_to_color", rclcpp::QoS{1}.transient_local());