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feat: support multiple ROS 2 distributions

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This commit is contained in:
slz
2026-07-28 21:06:41 +08:00
parent dc4bb4484a
commit 10a40ce314
25 changed files with 554 additions and 104 deletions
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orbbec_camera/.make_deb.sh
+5 -2
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@@ -11,11 +11,14 @@ sed -i '/^override_dh_shlibdeps:/,/^$/d' debian/rules
cat >> debian/rules << 'EOF'
ORBBEC_PACKAGE := ros-$(ROS_DISTRO)-orbbec-camera
ORBBEC_LIB_DIR := $(CURDIR)/debian/$(ORBBEC_PACKAGE)/opt/ros/$(ROS_DISTRO)/lib
override_dh_shlibdeps:
dh_shlibdeps --dpkg-shlibdeps-params=--ignore-missing-info
dh_shlibdeps -Xlibengine_infer_encry.so -l$(ORBBEC_LIB_DIR) -- --ignore-missing-info
EOF
PARALLEL=$(nproc)
if [ "$PARALLEL" -gt 3 ]; then PARALLEL=3; fi
export DEB_BUILD_OPTIONS="parallel=$PARALLEL"
fakeroot debian/rules binary
fakeroot debian/rules binary
orbbec_camera/CMakeLists.txt
+96 -29
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@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.22)
cmake_minimum_required(VERSION 3.10)
project(orbbec_camera)
set(CMAKE_CXX_STANDARD 17)
@@ -26,13 +26,16 @@ set(dependencies
cv_bridge
backward_ros
camera_info_manager
geometry_msgs
image_transport
image_publisher
message_filters
OpenCV
orbbec_camera_msgs
rcl_interfaces
rclcpp
rclcpp_components
rmw
sensor_msgs
std_msgs
std_srvs
@@ -55,18 +58,49 @@ endforeach()
find_package(PkgConfig REQUIRED)
find_package(OpenSSL REQUIRED)
if(message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
add_compile_definitions(message_filters_QoS)
set(ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS OFF)
if(DEFINED message_filters_VERSION AND message_filters_VERSION VERSION_GREATER_EQUAL 5.0)
set(ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS ON)
endif()
if(image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
add_compile_definitions(image_transport_NODE_INTERFACE)
set(ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES OFF)
if(DEFINED image_transport_VERSION AND image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
set(ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES ON)
endif()
if(image_transport_VERSION VERSION_GREATER_EQUAL 6.4)
add_compile_definitions(image_transport_QoS)
set(ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES OFF)
if(DEFINED camera_info_manager_VERSION AND
camera_info_manager_VERSION VERSION_GREATER_EQUAL 4.1.0)
set(ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES ON)
endif()
set(ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS OFF)
if(DEFINED camera_info_manager_VERSION AND
camera_info_manager_VERSION VERSION_GREATER_EQUAL 7.0.0)
set(ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS ON)
endif()
function(orbbec_target_dependencies target)
if(COMMAND ament_target_dependencies)
ament_target_dependencies(${target} ${ARGN})
return()
endif()
set(dependency_targets)
foreach(dependency IN LISTS ARGN)
if(dependency STREQUAL "rclcpp_components")
list(APPEND dependency_targets rclcpp_components::component)
elseif(dependency STREQUAL "sensor_msgs")
list(APPEND dependency_targets sensor_msgs::sensor_msgs_library)
elseif(TARGET "${dependency}::${dependency}")
list(APPEND dependency_targets "${dependency}::${dependency}")
else()
message(FATAL_ERROR "No CMake target exported by ${dependency}")
endif()
endforeach()
target_link_libraries(${target} ${dependency_targets})
endfunction()
if(USE_RK_HW_DECODER)
pkg_search_module(RK_MPP REQUIRED rockchip_mpp)
if(NOT RK_MPP_FOUND)
@@ -112,7 +146,7 @@ endif()
set(COMMON_INCLUDE_DIRS
$<BUILD_INTERFACE:${CMAKE_CURRENT_BINARY_DIR}/include> $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDED_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
$<INSTALL_INTERFACE:include> ${ORBBEC_INCLUDE_DIR} ${OpenCV_INCLUDE_DIRS} ${CMAKE_CURRENT_SOURCE_DIR}/tools
)
set(EXTRA_TARGETS
@@ -182,29 +216,51 @@ endmacro()
# Define library and nodes
add_library(${PROJECT_NAME} SHARED ${SOURCE_FILES})
if(ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS)
target_compile_definitions(${PROJECT_NAME} PRIVATE ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS)
endif()
if(ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES)
target_compile_definitions(${PROJECT_NAME} PRIVATE ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES)
endif()
if(ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES)
target_compile_definitions(${PROJECT_NAME}
PRIVATE ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES)
endif()
if(ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS)
target_compile_definitions(${PROJECT_NAME}
PRIVATE ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS)
endif()
target_include_directories(${PROJECT_NAME} PUBLIC ${COMMON_INCLUDE_DIRS} ${image_publisher_INCLUDE_DIRS})
target_link_directories(${PROJECT_NAME} PRIVATE ${ORBBEC_LIBS_DIR})
target_link_libraries(${PROJECT_NAME}
${OpenCV_LIBS}
${orbbec_camera_msgs_TARGETS}
${sensor_msgs_TARGETS}
${std_srvs_TARGETS}
ament_index_cpp::ament_index_cpp
camera_info_manager::camera_info_manager
cv_bridge::cv_bridge
diagnostic_updater::diagnostic_updater
Eigen3::Eigen
image_transport::image_transport
message_filters::message_filters
OpenSSL::Crypto
OrbbecSDK
Threads::Threads
${BACKWARD_LIBRARIES}
rclcpp::rclcpp
rclcpp_components::component
rt
tf2::tf2
tf2_ros::tf2_ros
${EXTRA_TARGETS}
)
orbbec_target_dependencies(${PROJECT_NAME}
camera_info_manager
cv_bridge
diagnostic_updater
geometry_msgs
image_transport
message_filters
rcl_interfaces
rclcpp_components
rmw
sensor_msgs
)
rclcpp_components_register_node(
${PROJECT_NAME} PLUGIN "orbbec_camera::OBCameraNodeDriver" EXECUTABLE orbbec_camera_node
@@ -221,6 +277,10 @@ add_orbbec_executable(ob_benchmark_node tools/ob_benchmark.cpp)
add_orbbec_executable(435le_example_node examples/Gemini_435Le_example_node/camera_example_node.cpp)
add_orbbec_executable(service_benchmark_node scripts/service_benchmark_node.cpp)
add_orbbec_executable(image_sync_example_node examples/multi_camera_time_sync/image_sync_example_node.cpp)
orbbec_target_dependencies(topic_statistics_node statistics_msgs)
if(ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS)
target_compile_definitions(image_sync_example_node PRIVATE ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS)
endif()
install(
PROGRAMS
@@ -233,11 +293,14 @@ add_library(frame_latency SHARED tools/frame_latency.cpp)
target_include_directories(frame_latency PUBLIC ${COMMON_INCLUDE_DIRS})
target_link_libraries(frame_latency
${orbbec_camera_msgs_TARGETS}
${sensor_msgs_TARGETS}
${tf2_msgs_TARGETS}
diagnostic_updater::diagnostic_updater
rclcpp::rclcpp
rclcpp_components::component
)
orbbec_target_dependencies(frame_latency
diagnostic_updater
geometry_msgs
rclcpp_components
sensor_msgs
)
rclcpp_components_register_node(frame_latency PLUGIN "orbbec_camera::FrameLatencyNode" EXECUTABLE frame_latency_node)
@@ -247,16 +310,18 @@ target_include_directories(start_benchmark PUBLIC ${COMMON_INCLUDE_DIRS} ${image
target_link_libraries(start_benchmark
${OpenCV_LIBS}
${orbbec_camera_msgs_TARGETS}
${sensor_msgs_TARGETS}
${std_srvs_TARGETS}
camera_info_manager::camera_info_manager
diagnostic_updater::diagnostic_updater
Eigen3::Eigen
image_transport::image_transport
rclcpp::rclcpp
rclcpp_components::component
tf2_ros::tf2_ros
)
orbbec_target_dependencies(start_benchmark
camera_info_manager
diagnostic_updater
image_transport
rclcpp_components
sensor_msgs
)
rclcpp_components_register_node(
start_benchmark PLUGIN "orbbec_camera::tools::StartBenchmark" EXECUTABLE start_benchmark_node
@@ -268,20 +333,22 @@ target_link_directories(multi_save_rgbir PRIVATE ${ORBBEC_LIBS_DIR})
target_link_libraries(multi_save_rgbir
${OpenCV_LIBS}
${orbbec_camera_msgs_TARGETS}
${sensor_msgs_TARGETS}
${std_srvs_TARGETS}
camera_info_manager::camera_info_manager
cv_bridge::cv_bridge
diagnostic_updater::diagnostic_updater
Eigen3::Eigen
image_transport::image_transport
OpenSSL::Crypto
OrbbecSDK
rclcpp::rclcpp
rclcpp_components::component
tf2::tf2
tf2_ros::tf2_ros
)
orbbec_target_dependencies(multi_save_rgbir
camera_info_manager
cv_bridge
diagnostic_updater
image_transport
rclcpp_components
sensor_msgs
)
rclcpp_components_register_node(
multi_save_rgbir PLUGIN "orbbec_camera::tools::MultiCameraSubscriber" EXECUTABLE multi_save_rgbir_node
orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp
+3 -3
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@@ -139,9 +139,9 @@ class CameraExampleNode : public rclcpp::Node {
"/camera/device_status", 10,
std::bind(&CameraExampleNode::deviceStatusCallback, this, std::placeholders::_1));
while (rclcpp::ok()) {
rclcpp::spin_some(shared_from_this());
}
rclcpp::executors::SingleThreadedExecutor executor;
executor.add_node(shared_from_this());
executor.spin();
}
// Feature 7: Set Color AE ROI
orbbec_camera/examples/multi_camera_time_sync/image_sync_example_node.cpp
+12 -3
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@@ -1,8 +1,17 @@
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#if __has_include(<message_filters/subscriber.hpp>)
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/synchronizer.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/image.hpp>
#elif __has_include(<message_filters/subscriber.h>)
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#else
#error "No compatible message_filters headers found"
#endif
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
@@ -79,7 +88,7 @@ class ImageSyncNode : public rclcpp::Node {
rclcpp::QoS qos{rclcpp::KeepLast(queue_size_)};
qos.reliable();
#ifdef message_filters_QoS
#ifdef ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS
const rclcpp::QoS qos_prof = qos;
#else
const rmw_qos_profile_t qos_prof = qos.get_rmw_qos_profile();
orbbec_camera/include/orbbec_camera/d2c_viewer.h
+11 -3
View File
@@ -14,12 +14,20 @@
* limitations under the License.
*******************************************************************************/
#pragma once
#include <sensor_msgs/msg/image.hpp>
#include <rclcpp/rclcpp.hpp>
#if __has_include(<message_filters/subscriber.hpp>)
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/synchronizer.hpp>
#include <message_filters/time_synchronizer.hpp>
#include <sensor_msgs/msg/image.hpp>
#include <rclcpp/rclcpp.hpp>
#elif __has_include(<message_filters/subscriber.h>)
#include <message_filters/subscriber.h>
#include <message_filters/sync_policies/approximate_time.h>
#include <message_filters/synchronizer.h>
#else
#error "No compatible message_filters headers found"
#endif
#include "utils.h"
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+20 -5
View File
@@ -31,11 +31,6 @@
#include <opencv2/opencv.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#include <tf2/LinearMath/Quaternion.hpp>
#include <tf2/LinearMath/Vector3.hpp>
#include <tf2/LinearMath/Transform.hpp>
#include <std_srvs/srv/set_bool.hpp>
#include <std_srvs/srv/empty.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
@@ -81,6 +76,26 @@
#include <fcntl.h>
#include <unistd.h>
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#include <tf2/LinearMath/Vector3.hpp>
#elif __has_include(<tf2/LinearMath/Quaternion.h>)
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Vector3.h>
#else
#error "No compatible tf2 LinearMath headers found"
#endif
#if __has_include(<tf2_ros/static_transform_broadcaster.hpp>)
#include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#elif __has_include(<tf2_ros/static_transform_broadcaster.h>)
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#else
#error "No compatible tf2_ros broadcaster headers found"
#endif
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#elif __has_include(<cv_bridge/cv_bridge.h>)
orbbec_camera/include/orbbec_camera/ob_lidar_node.h
+20 -5
View File
@@ -31,11 +31,6 @@
#include <sensor_msgs/msg/laser_scan.hpp>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#include <tf2/LinearMath/Quaternion.hpp>
#include <tf2/LinearMath/Vector3.hpp>
#include <tf2/LinearMath/Transform.hpp>
#include <std_srvs/srv/set_bool.hpp>
#include <std_srvs/srv/empty.hpp>
#include <diagnostic_updater/diagnostic_updater.hpp>
@@ -66,6 +61,26 @@
#include <fcntl.h>
#include <unistd.h>
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#include <tf2/LinearMath/Vector3.hpp>
#elif __has_include(<tf2/LinearMath/Quaternion.h>)
#include <tf2/LinearMath/Quaternion.h>
#include <tf2/LinearMath/Vector3.h>
#else
#error "No compatible tf2 LinearMath headers found"
#endif
#if __has_include(<tf2_ros/static_transform_broadcaster.hpp>)
#include <tf2_ros/static_transform_broadcaster.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
#elif __has_include(<tf2_ros/static_transform_broadcaster.h>)
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#else
#error "No compatible tf2_ros broadcaster headers found"
#endif
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#elif __has_include(<cv_bridge/cv_bridge.h>)
orbbec_camera/include/orbbec_camera/utils.h
+7 -1
View File
@@ -17,13 +17,19 @@
#pragma once
#include <ostream>
#include <Eigen/Dense>
#include <tf2/LinearMath/Quaternion.hpp>
#include <rclcpp/rclcpp.hpp>
#include "libobsensor/ObSensor.hpp"
#include "sensor_msgs/distortion_models.hpp"
#include "sensor_msgs/msg/camera_info.hpp"
#include "orbbec_camera_msgs/msg/extrinsics.hpp"
#if __has_include(<tf2/LinearMath/Quaternion.hpp>)
#include <tf2/LinearMath/Quaternion.hpp>
#elif __has_include(<tf2/LinearMath/Quaternion.h>)
#include <tf2/LinearMath/Quaternion.h>
#else
#error "No compatible tf2 Quaternion header found"
#endif
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <opencv2/opencv.hpp>
#include <openssl/evp.h>
orbbec_camera/package.xml
+18 -1
View File
@@ -8,6 +8,8 @@
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>pkg-config</buildtool_depend>
<depend>ament_lint_auto</depend>
<depend>ament_lint_common</depend>
<depend>ament_index_cpp</depend>
@@ -18,7 +20,7 @@
<depend>rclcpp_components</depend>
<depend>cv_bridge</depend>
<depend>camera_info_manager</depend>
<depend version_gte="2.8.6">orbbec_camera_msgs</depend>
<depend version_gte="2.9.3">orbbec_camera_msgs</depend>
<depend>builtin_interfaces</depend>
<depend>rclcpp</depend>
<depend>sensor_msgs</depend>
@@ -37,6 +39,21 @@
<depend>libssl-dev</depend>
<depend>opengl</depend>
<depend>eigen</depend>
<depend>geometry_msgs</depend>
<depend>libopencv-dev</depend>
<depend>rcl_interfaces</depend>
<depend>rmw</depend>
<depend>yaml-cpp</depend>
<exec_depend>ament_index_python</exec_depend>
<exec_depend>launch</exec_depend>
<exec_depend>launch_ros</exec_depend>
<exec_depend>python3-psutil</exec_depend>
<exec_depend>python3-tabulate</exec_depend>
<exec_depend>python3-yaml</exec_depend>
<exec_depend>rclpy</exec_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
orbbec_camera/src/d2c_viewer.cpp
+2 -2
View File
@@ -31,7 +31,7 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
: node_(node), logger_(rclcpp::get_logger("d2c_viewer")), is_active_(true) {
rgb_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
node_, "color/image_raw",
#ifdef message_filters_QoS
#ifdef ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS
rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(rgb_qos), rgb_qos}
#else
rgb_qos
@@ -39,7 +39,7 @@ D2CViewer::D2CViewer(rclcpp::Node* const node, rmw_qos_profile_t rgb_qos,
);
depth_sub_ = std::make_shared<message_filters::Subscriber<sensor_msgs::msg::Image>>(
node_, "depth/image_raw",
#ifdef message_filters_QoS
#ifdef ORBBEC_MESSAGE_FILTERS_USES_RCLCPP_QOS
rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(depth_qos), depth_qos}
#else
depth_qos
orbbec_camera/src/image_publisher.cpp
+6 -6
View File
@@ -35,20 +35,20 @@ size_t image_rcl_publisher::get_subscription_count() const {
image_transport_publisher::image_transport_publisher(rclcpp::Node& node,
const std::string& topic_name,
const rmw_qos_profile_t& qos) {
image_publisher_impl = std::make_shared<image_transport::Publisher>(
image_transport::create_publisher(
#ifdef image_transport_NODE_INTERFACE
image_publisher_impl =
std::make_shared<image_transport::Publisher>(image_transport::create_publisher(
#ifdef ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES
image_transport::RequiredInterfaces{node},
#else
&node,
#endif
topic_name,
#ifdef image_transport_QoS
#ifdef ORBBEC_IMAGE_TRANSPORT_USES_REQUIRED_INTERFACES
rclcpp::QoS{rclcpp::QoSInitialization::from_rmw(qos), qos}
#else
qos
#endif
));
));
}
void image_transport_publisher::publish(sensor_msgs::msg::Image::UniquePtr image_ptr) {
image_publisher_impl->publish(*image_ptr);
@@ -57,4 +57,4 @@ void image_transport_publisher::publish(sensor_msgs::msg::Image::UniquePtr image
size_t image_transport_publisher::get_subscription_count() const {
return image_publisher_impl->getNumSubscribers();
}
} // namespace orbbec_camera
} // namespace orbbec_camera
orbbec_camera/src/ob_camera_node.cpp
+25 -8
View File
@@ -5311,15 +5311,32 @@ void OBCameraNode::publishConfidenceFrame(const std::shared_ptr<ob::Frame> &conf
}
void OBCameraNode::setupCameraInfo() {
std::string color_camera_name = camera_name_ + "_color";
const auto create_camera_info_manager = [this](const std::string &camera_name,
const std::string &camera_info_url) {
#ifdef ORBBEC_CAMERA_INFO_MANAGER_USES_NODE_INTERFACES
#ifdef ORBBEC_CAMERA_INFO_MANAGER_USES_RCLCPP_QOS
return std::make_unique<camera_info_manager::CameraInfoManager>(
node_->get_node_base_interface(), node_->get_node_services_interface(),
node_->get_node_logging_interface(), camera_name, camera_info_url,
rclcpp::SystemDefaultsQoS());
#else
return std::make_unique<camera_info_manager::CameraInfoManager>(
node_->get_node_base_interface(), node_->get_node_services_interface(),
node_->get_node_logging_interface(), camera_name, camera_info_url, rmw_qos_profile_default);
#endif
#else
return std::make_unique<camera_info_manager::CameraInfoManager>(node_, camera_name,
camera_info_url);
#endif
};
const std::string color_camera_name = camera_name_ + "_color";
if (!color_info_url_.empty()) {
color_info_manager_ = std::make_unique<camera_info_manager::CameraInfoManager>(
node_, color_camera_name, color_info_url_);
color_info_manager_ = create_camera_info_manager(color_camera_name, color_info_url_);
}
std::string ir_camera_name = camera_name_ + "_ir";
const std::string ir_camera_name = camera_name_ + "_ir";
if (!ir_info_url_.empty()) {
ir_info_manager_ = std::make_unique<camera_info_manager::CameraInfoManager>(
node_, ir_camera_name, ir_info_url_);
ir_info_manager_ = create_camera_info_manager(ir_camera_name, ir_info_url_);
}
}
@@ -7287,8 +7304,8 @@ void OBCameraNode::publishStaticTransforms() {
if (!publish_tf_) {
return;
}
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node_);
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*node_);
calcAndPublishStaticTransform();
if (tf_publish_rate_ > 0) {
tf_thread_ = std::make_shared<std::thread>([this]() { publishDynamicTransforms(); });
orbbec_camera/src/ob_camera_node_driver.cpp
+30 -7
View File
@@ -19,8 +19,13 @@
#include <fcntl.h>
#include <semaphore.h>
#include <sys/shm.h>
#include <ament_index_cpp/get_package_share_directory.hpp>
#include <ament_index_cpp/get_package_prefix.hpp>
#if __has_include(<ament_index_cpp/get_package_share_path.hpp>)
#include <ament_index_cpp/get_package_share_path.hpp>
#define ORBBEC_AMENT_INDEX_USES_FILESYSTEM_PATHS
#else
#include <ament_index_cpp/get_package_share_directory.hpp>
#endif
#include <rclcpp_components/register_node_macro.hpp>
#include <rcutils/logging.h>
#include <csignal>
@@ -39,6 +44,24 @@ std::string g_time_domain = "global"; // Assuming this is declared elsew
namespace {
constexpr auto kStreamStartDelayAfterReconnect = std::chrono::seconds(5);
std::filesystem::path getPackageSharePath(const std::string &package_name) {
#ifdef ORBBEC_AMENT_INDEX_USES_FILESYSTEM_PATHS
return ament_index_cpp::get_package_share_path(package_name);
#else
return ament_index_cpp::get_package_share_directory(package_name);
#endif
}
std::filesystem::path getPackagePrefixPath(const std::string &package_name) {
#ifdef ORBBEC_AMENT_INDEX_USES_FILESYSTEM_PATHS
std::filesystem::path package_prefix;
ament_index_cpp::get_package_prefix(package_name, package_prefix);
return package_prefix;
#else
return ament_index_cpp::get_package_prefix(package_name);
#endif
}
std::string getLogDirectoryForCamera(const std::string &camera_name) {
const char *log_dir_override = std::getenv("ORBBEC_LOG_DIR");
if (log_dir_override && log_dir_override[0] != '\0') {
@@ -153,10 +176,10 @@ int rosLogSeverityFromString(const std::string_view &log_level) {
OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
: Node("orbbec_camera_node", "/", node_options),
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v2.0.xml"),
config_path_(
(getPackageSharePath("orbbec_camera") / "config" / "OrbbecSDKConfig_v2.0.xml").string()),
logger_(this->get_logger()),
extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
extension_path_((getPackagePrefixPath("orbbec_camera") / "lib" / "extensions").string()) {
node_name_ = "orbbec_camera_node";
init();
}
@@ -165,10 +188,10 @@ OBCameraNodeDriver::OBCameraNodeDriver(const std::string &node_name, const std::
const rclcpp::NodeOptions &node_options)
: Node(node_name, ns, node_options),
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v2.0.xml"),
config_path_(
(getPackageSharePath("orbbec_camera") / "config" / "OrbbecSDKConfig_v2.0.xml").string()),
logger_(this->get_logger()),
extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
extension_path_((getPackagePrefixPath("orbbec_camera") / "lib" / "extensions").string()) {
node_name_ = node_name;
init();
}
orbbec_camera/src/ob_lidar_node.cpp
+2 -2
View File
@@ -1165,8 +1165,8 @@ void OBLidarNode::publishStaticTransforms() {
if (!publish_tf_) {
return;
}
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node_);
static_tf_broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(*node_);
dynamic_tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(*node_);
calcAndPublishStaticTransform();
if (tf_publish_rate_ > 0) {
tf_thread_ = std::make_shared<std::thread>([this]() { publishDynamicTransforms(); });
orbbec_camera/tools/multi_save_rgbir.cpp
+1 -4
View File
@@ -5,9 +5,6 @@
#include <orbbec_camera/utils.h>
#include "orbbec_camera/ob_camera_node.h"
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/synchronizer.hpp>
#include <std_msgs/msg/int32.hpp>
#include <filesystem>
#include <regex>
@@ -410,4 +407,4 @@ class MultiCameraSubscriber : public rclcpp::Node {
};
} // namespace tools
} // namespace orbbec_camera
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::tools::MultiCameraSubscriber)
RCLCPP_COMPONENTS_REGISTER_NODE(orbbec_camera::tools::MultiCameraSubscriber)
orbbec_camera/tools/ob_benchmark.cpp
-3
View File
@@ -3,9 +3,6 @@
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/synchronizer.hpp>
#include <filesystem>
namespace orbbec_camera {
orbbec_camera/tools/start_benchmark.cpp
-3
View File
@@ -3,9 +3,6 @@
#include <orbbec_camera/ob_camera_node_driver.h>
#include <orbbec_camera/utils.h>
#include "orbbec_camera_msgs/msg/metadata.hpp"
#include <message_filters/subscriber.hpp>
#include <message_filters/sync_policies/approximate_time.hpp>
#include <message_filters/synchronizer.hpp>
#include <filesystem>
namespace orbbec_camera {