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Fix device_status topic

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xiexun
2025-09-02 17:08:21 +08:00
parent c21ef8e926
commit 211edd146b
6 changed files with 136 additions and 88 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+8 -5
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@@ -232,8 +232,9 @@ void OBCameraNodeDriver::init() {
query_thread_ = std::make_shared<std::thread>([this]() { queryDevice(); });
reset_device_thread_ = std::make_shared<std::thread>([this]() { resetDevice(); });
device_status_timer_ = this->create_wall_timer(
std::chrono::milliseconds(1000 / device_status_interval_hz), [this]() { deviceStatusTimer(); });
device_status_timer_ =
this->create_wall_timer(std::chrono::milliseconds(1000 / device_status_interval_hz),
[this]() { deviceStatusTimer(); });
}
void OBCameraNodeDriver::onDeviceConnected(const std::shared_ptr<ob::DeviceList> &device_list) {
@@ -346,8 +347,9 @@ void OBCameraNodeDriver::queryDevice() {
// Check if connection is already in progress
if (device_connecting_.load()) {
RCLCPP_INFO_STREAM(logger_, "queryDevice: device connection already in progress, waiting...");
std::this_thread::sleep_for(std::chrono::milliseconds(1000));
RCLCPP_DEBUG_STREAM(logger_,
"queryDevice: device connection already in progress, waiting...");
std::this_thread::sleep_for(std::chrono::milliseconds(100));
continue;
}
@@ -462,9 +464,10 @@ void OBCameraNodeDriver::deviceStatusTimer() {
bool calibration_from_device = (camera_params != nullptr && camera_params->count() > 0);
status_msg.calibration_from_device = calibration_from_device;
status_msg.calibration_from_launch_param = ob_camera_node_->isParamCalibrated();
// status_msg.calibration_from_user_file = ob_camera_node_->isWriteCustomerDataSuccess();
// status_msg.customer_calibration_ready = ob_camera_node_->isWriteCustomerDataSuccess();
ob_camera_node_->publishDeviceStatus(status_msg);
// RCLCPP_INFO_STREAM(logger_, "deviceStatusTimer() ");
}
void OBCameraNodeDriver::rebootDeviceCallback(