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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/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();
}