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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/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