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Refactor code for improved readability and consistency

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This commit is contained in:
slz
2026-06-10 15:17:15 +08:00
parent 77695a78c8
commit 14b62847eb
23 changed files with 271 additions and 275 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+6 -7
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@@ -296,9 +296,9 @@ void OBLidarNode::setupProfiles() {
}
} catch (const ob::Error &ex) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << stream_name_[elem]
<< " profile: " << orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(logger_, "Failed to get "
<< stream_name_[elem] << " profile: "
<< orbbec_camera::formatObErrorWithStatus(ex));
RCLCPP_ERROR_STREAM(logger_, "Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second
<< ", Scan Rate: " << rate_[elem]
@@ -1262,10 +1262,9 @@ void OBLidarNode::calcAndPublishStaticTransform() {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
RCLCPP_INFO_STREAM(logger_, "Using GYRO extrinsic for IMU");
} catch (const ob::Error &e2) {
RCLCPP_ERROR_STREAM(
logger_, "Failed to get " << frame_id
<< " extrinsic from both ACCEL and GYRO: "
<< orbbec_camera::formatObErrorWithStatus(e2));
RCLCPP_ERROR_STREAM(logger_, "Failed to get "
<< frame_id << " extrinsic from both ACCEL and GYRO: "
<< orbbec_camera::formatObErrorWithStatus(e2));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
}