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Big refactoring code

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* Removal of unnecessary files
* Optimized multi-camera launch
* Explicitly list the parameters in the launch file
This commit is contained in:
默存
2023-02-06 17:26:10 +08:00
parent 04e4d4151e
commit 202719bd8c
59 changed files with 4931 additions and 806 deletions
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orbbec_camera/src/utils.cpp
+24 -1
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@@ -202,7 +202,7 @@ OBFormat OBFormatFromString(const std::string &format) {
return OB_FORMAT_RGB_POINT;
} else if (fixed_format == "REL") {
return OB_FORMAT_RLE;
} else if (fixed_format == "RGB888") {
} else if (fixed_format == "RGB888" || fixed_format == "RGB") {
return OB_FORMAT_RGB888;
} else if (fixed_format == "BGR") {
return OB_FORMAT_BGR;
@@ -224,4 +224,27 @@ std::string ObDeviceTypeToString(const OBDeviceType &type) {
}
return "unknown technology camera";
}
rmw_qos_profile_t getRMWQosProfileFromString(const std::string& str_qos) {
std::string upper_str_qos = str_qos;
std::transform(upper_str_qos.begin(), upper_str_qos.end(), upper_str_qos.begin(), ::toupper);
if (upper_str_qos == "SYSTEM_DEFAULT") {
return rmw_qos_profile_system_default;
} else if (upper_str_qos == "DEFAULT") {
return rmw_qos_profile_default;
} else if (upper_str_qos == "PARAMETER_EVENTS") {
return rmw_qos_profile_parameter_events;
} else if (upper_str_qos == "SERVICES_DEFAULT") {
return rmw_qos_profile_services_default;
} else if (upper_str_qos == "PARAMETERS") {
return rmw_qos_profile_parameters;
} else if (upper_str_qos == "SENSOR_DATA") {
return rmw_qos_profile_sensor_data;
} else {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("astra_camera"),
"Invalid QoS profile: " << upper_str_qos << ". Using default QoS profile.");
return rmw_qos_profile_default;
}
}
} // namespace orbbec_camera