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feat: support multiple ROS 2 distributions

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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/src/d2c_viewer.cpp
+2 -2
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@@ -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
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@@ -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
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@@ -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
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@@ -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
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@@ -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(); });