From 901259f129cea47a9bf83adf46e8c35b569a5165 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Wed, 19 Aug 2026 13:41:15 +0800
Subject: [PATCH] fix: support additional sample rate aliases for IMU
 configuration

---
 orbbec_camera/src/utils.cpp | 12 ++++++------
 1 file changed, 6 insertions(+), 6 deletions(-)

diff --git a/orbbec_camera/src/utils.cpp b/orbbec_camera/src/utils.cpp
index 4f4aef43..15fdd288 100644
--- a/orbbec_camera/src/utils.cpp
+++ b/orbbec_camera/src/utils.cpp
@@ -718,17 +718,17 @@ OB_SAMPLE_RATE sampleRateFromString(std::string &sample_rate) {
     return OB_SAMPLE_RATE_200_HZ;
   } else if (sample_rate == "500hz") {
     return OB_SAMPLE_RATE_500_HZ;
-  } else if (sample_rate == "1khz") {
+  } else if (sample_rate == "1khz" || sample_rate == "1000hz") {
     return OB_SAMPLE_RATE_1_KHZ;
-  } else if (sample_rate == "2khz") {
+  } else if (sample_rate == "2khz" || sample_rate == "2000hz") {
     return OB_SAMPLE_RATE_2_KHZ;
-  } else if (sample_rate == "4khz") {
+  } else if (sample_rate == "4khz" || sample_rate == "4000hz") {
     return OB_SAMPLE_RATE_4_KHZ;
-  } else if (sample_rate == "8khz") {
+  } else if (sample_rate == "8khz" || sample_rate == "8000hz") {
     return OB_SAMPLE_RATE_8_KHZ;
-  } else if (sample_rate == "16khz") {
+  } else if (sample_rate == "16khz" || sample_rate == "16000hz") {
     return OB_SAMPLE_RATE_16_KHZ;
-  } else if (sample_rate == "32khz") {
+  } else if (sample_rate == "32khz" || sample_rate == "32000hz") {
     return OB_SAMPLE_RATE_32_KHZ;
   } else {
     RCLCPP_ERROR_STREAM(rclcpp::get_logger("utils"), "Unknown OB_SAMPLE_RATE: " << sample_rate);