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fixed catch error

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This commit is contained in:
Joe Dong
2023-02-13 14:58:51 +08:00
parent 2c13c572be
commit 1d1b35f020
1 changed files with 5 additions and 3 deletions
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orbbec_camera/src/ob_camera_node_factory.cpp
+5 -3
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@@ -53,8 +53,8 @@ void OBCameraNodeFactory::init() {
device_num_ = declare_parameter<int>("device_num", 1); device_num_ = declare_parameter<int>("device_num", 1);
ctx_->setDeviceChangedCallback([this](std::shared_ptr<ob::DeviceList> removed_list, ctx_->setDeviceChangedCallback([this](std::shared_ptr<ob::DeviceList> removed_list,
std::shared_ptr<ob::DeviceList> added_list) { std::shared_ptr<ob::DeviceList> added_list) {
(void)added_list;
onDeviceDisconnected(removed_list); onDeviceDisconnected(removed_list);
onDeviceConnected(added_list);
}); });
check_connect_timer_ = check_connect_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000), [this]() { checkConnectTimer(); }); this->create_wall_timer(std::chrono::milliseconds(1000), [this]() { checkConnectTimer(); });
@@ -67,10 +67,12 @@ void OBCameraNodeFactory::onDeviceConnected(const std::shared_ptr<ob::DeviceList
if (device_list->deviceCount() == 0) { if (device_list->deviceCount() == 0) {
return; return;
} }
RCLCPP_INFO_STREAM(logger_, "onDeviceConnected"); RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000, "onDeviceConnected");
if (!device_) { if (!device_) {
try { try {
startDevice(device_list); startDevice(device_list);
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "startDevice failed: " << e.getMessage());
} catch (const std::exception &e) { } catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "startDevice failed: " << e.what()); RCLCPP_ERROR_STREAM(logger_, "startDevice failed: " << e.what());
} catch (...) { } catch (...) {
@@ -123,7 +125,7 @@ void OBCameraNodeFactory::checkConnectTimer() const {
void OBCameraNodeFactory::queryDevice() { void OBCameraNodeFactory::queryDevice() {
while (is_alive_ && rclcpp::ok()) { while (is_alive_ && rclcpp::ok()) {
if (!device_connected_) { if (!device_connected_.load()) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000, "Waiting for device connection..."); RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000, "Waiting for device connection...");
auto device_list = ctx_->queryDeviceList(); auto device_list = ctx_->queryDeviceList();
if (device_list->deviceCount() == 0) { if (device_list->deviceCount() == 0) {