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This commit is contained in:
Joe Dong
2023-02-15 21:20:02 +08:00
parent 9f0ee3a8d5
commit 31c0f91372
2 changed files with 10 additions and 7 deletions
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orbbec_camera/launch/multi_camera.launch.xml
+3 -3
View File
@@ -2,12 +2,12 @@
<!-- unique camera name--> <!-- unique camera name-->
<arg name="camera_name" default="camera"/> <arg name="camera_name" default="camera"/>
<!-- Hardware depth registration --> <!-- Hardware depth registration -->
<arg name="3d_sensor" default="astra"/> <arg name="3d_sensor" default="astra_mini"/>
<!-- stereo_s_u3, astrapro, astra --> <!-- stereo_s_u3, astrapro, astra -->
<arg name="camera1_prefix" default="01"/> <arg name="camera1_prefix" default="01"/>
<arg name="camera2_prefix" default="02"/> <arg name="camera2_prefix" default="02"/>
<arg name="camera1_serila_number" default="ADAX91301LB"/> <arg name="camera1_serila_number" default="'ADAX9130012'"/>
<arg name="camera2_serila_number" default="'18011820122'"/> <arg name="camera2_serila_number" default="'ADAX91301LB'"/>
<arg name="device_num" default="2"/> <arg name="device_num" default="2"/>
<node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/> <node name="camera" pkg="orbbec_camera" exec="ob_cleanup_shm_node" output="screen"/>
<include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml"> <include file="$(find-pkg-share orbbec_camera)/launch/$(var 3d_sensor).launch.xml">
orbbec_camera/src/ob_camera_node_factory.cpp
+7 -4
View File
@@ -90,7 +90,7 @@ void OBCameraNodeFactory::onDeviceDisconnected(const std::shared_ptr<ob::DeviceL
for (size_t i = 0; i < device_list->deviceCount(); i++) { for (size_t i = 0; i < device_list->deviceCount(); i++) {
std::string uid = device_list->uid(i); std::string uid = device_list->uid(i);
std::scoped_lock<decltype(device_lock_)> lock(device_lock_); std::scoped_lock<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM(logger_, "device with" << uid << "disconnected"); RCLCPP_INFO_STREAM(logger_, "device with " << uid << " disconnected");
if (uid == device_unique_id_) { if (uid == device_unique_id_) {
ob_camera_node_.reset(); ob_camera_node_.reset();
device_.reset(); device_.reset();
@@ -119,7 +119,8 @@ OBLogSeverity OBCameraNodeFactory::obLogSeverityFromString(const std::string_vie
void OBCameraNodeFactory::checkConnectTimer() const { void OBCameraNodeFactory::checkConnectTimer() const {
if (!device_connected_.load()) { if (!device_connected_.load()) {
RCLCPP_ERROR_STREAM(logger_, "checkConnectTimer: device not connected"); RCLCPP_ERROR_STREAM(logger_,
"checkConnectTimer: device " << serial_number_ << " not connected");
return; return;
} }
} }
@@ -135,6 +136,7 @@ void OBCameraNodeFactory::queryDevice() {
} }
onDeviceConnected(device_list); onDeviceConnected(device_list);
} else { } else {
RCLCPP_INFO_STREAM(logger_, "Device connected");
std::this_thread::sleep_for(std::chrono::milliseconds(1000)); std::this_thread::sleep_for(std::chrono::milliseconds(1000));
} }
} }
@@ -182,7 +184,6 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
RCLCPP_INFO_STREAM(logger_, "Failed to open semaphore"); RCLCPP_INFO_STREAM(logger_, "Failed to open semaphore");
return; return;
} }
RCLCPP_INFO_STREAM(logger_, "Connecting to device with serial number: " << serial_number_);
int sem_value = 0; int sem_value = 0;
sem_getvalue(device_sem, &sem_value); sem_getvalue(device_sem, &sem_value);
RCLCPP_INFO_STREAM(logger_, "semaphore value: " << sem_value); RCLCPP_INFO_STREAM(logger_, "semaphore value: " << sem_value);
@@ -199,6 +200,7 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
std::string sn = dev->getDeviceInfo()->serialNumber(); std::string sn = dev->getDeviceInfo()->serialNumber();
RCLCPP_INFO_STREAM(logger_, "Device serial number: " << sn); RCLCPP_INFO_STREAM(logger_, "Device serial number: " << sn);
if (sn == serial_number_ || lower_sn == sn) { if (sn == serial_number_ || lower_sn == sn) {
RCLCPP_INFO_STREAM(logger_, "Device serial number matched: " << sn);
device = dev; device = dev;
break; break;
} }
@@ -215,7 +217,7 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
} }
if (device_ == nullptr) { if (device_ == nullptr) {
// RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str()); RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str());
device_connected_ = false; device_connected_ = false;
return; return;
} else { } else {
@@ -258,5 +260,6 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion()); RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion());
RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->hardwareVersion()); RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->hardwareVersion());
RCLCPP_INFO_STREAM(logger_, "device type: " << ObDeviceTypeToString(device_info_->deviceType())); RCLCPP_INFO_STREAM(logger_, "device type: " << ObDeviceTypeToString(device_info_->deviceType()));
RCLCPP_INFO_STREAM(logger_, "device unique id: " << device_unique_id_);
} }
} // namespace orbbec_camera } // namespace orbbec_camera