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modify rclcpp::Duration to be compatible with both Humble and Foxy

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datean
2024-10-23 10:59:17 +08:00
parent 543caa6bcb
commit 2cd55b092d
2 changed files with 11 additions and 10 deletions
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orbbec_camera/tools/metadata_save_files.hpp
+3 -3
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@@ -133,7 +133,7 @@ class MetadataSaveFiles : public rclcpp::Node {
left_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *left_ir_image_sub_, *left_ir_metadata_sub_);
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
left_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
left_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::left_ir_metadata_sync_callback, this, _1, _2));
@@ -146,7 +146,7 @@ class MetadataSaveFiles : public rclcpp::Node {
right_ir_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *right_ir_image_sub_, *right_ir_metadata_sub_);
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
right_ir_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
right_ir_sync_->registerCallback(
std::bind(&MetadataSaveFiles::right_ir_metadata_sync_callback, this, _1, _2));
@@ -159,7 +159,7 @@ class MetadataSaveFiles : public rclcpp::Node {
depth_sync_ = std::make_shared<message_filters::Synchronizer<MySyncPolicy>>(
MySyncPolicy(10), *depth_image_sub_, *depth_metadata_sub_);
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(100000000LL)); // 100 ms
depth_sync_->setMaxIntervalDuration(rclcpp::Duration(0, 100 * 1000000)); // 100 ms
depth_sync_->registerCallback(
std::bind(&MetadataSaveFiles::depth_metadata_sync_callback, this, _1, _2));