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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