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Add topic initialization judgment

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jj
2024-10-14 10:49:42 +08:00
parent b9355ce961
commit 405b815079
1 changed files with 15 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+15 -9
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@@ -1265,11 +1265,13 @@ void OBCameraNode::setupPublishers() {
camera_info_qos_profile)); camera_info_qos_profile));
auto image_h264_qos_profile = getRMWQosProfileFromString(image_qos); auto image_h264_qos_profile = getRMWQosProfileFromString(image_qos);
camera_h26x_publishers_[stream_index] = if (format_str_[stream_index] == "H264" || format_str_[stream_index] == "H265") {
node_->create_publisher<sensor_msgs::msg::CompressedImage>( camera_h26x_publishers_[stream_index] =
"/camera/color/h26x_encoded_data", node_->create_publisher<sensor_msgs::msg::CompressedImage>(
rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(image_h264_qos_profile), "/camera/color/h26x_encoded_data",
image_h264_qos_profile)); rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(image_h264_qos_profile),
image_h264_qos_profile));
}
if (isGemini335PID(pid)) { if (isGemini335PID(pid)) {
metadata_publishers_[stream_index] = metadata_publishers_[stream_index] =
node_->create_publisher<orbbec_camera_msgs::msg::Metadata>( node_->create_publisher<orbbec_camera_msgs::msg::Metadata>(
@@ -1809,7 +1811,10 @@ bool OBCameraNode::decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame> &fr
} }
CHECK_NOTNULL(image_publishers_[COLOR]); CHECK_NOTNULL(image_publishers_[COLOR]);
bool has_subscriber = image_publishers_[COLOR]->get_subscription_count() > 0; bool has_subscriber = image_publishers_[COLOR]->get_subscription_count() > 0;
has_subscriber = has_subscriber || camera_h26x_publishers_[COLOR]->get_subscription_count() > 0; if (camera_h26x_publishers_[COLOR] &&
camera_h26x_publishers_[COLOR]->get_subscription_count() > 0) {
has_subscriber = true;
}
if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) { if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) {
has_subscriber = true; has_subscriber = true;
} }
@@ -1905,8 +1910,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
has_subscriber = has_subscriber =
has_subscriber || (metadata_publishers_.count(stream_index) && has_subscriber || (metadata_publishers_.count(stream_index) &&
metadata_publishers_[stream_index]->get_subscription_count() > 0); metadata_publishers_[stream_index]->get_subscription_count() > 0);
has_subscriber = has_subscriber = has_subscriber || (camera_h26x_publishers_[COLOR] &&
has_subscriber || camera_h26x_publishers_[stream_index]->get_subscription_count() > 0; camera_h26x_publishers_[COLOR]->get_subscription_count() > 0);
if (!has_subscriber) { if (!has_subscriber) {
return; return;
} }
@@ -1986,7 +1991,8 @@ void OBCameraNode::onNewFrameCallback(const std::shared_ptr<ob::Frame> &frame,
} }
CHECK_NOTNULL(image_publishers_[stream_index]); CHECK_NOTNULL(image_publishers_[stream_index]);
if (image_publishers_[stream_index]->get_subscription_count() == 0 && if (image_publishers_[stream_index]->get_subscription_count() == 0 &&
camera_h26x_publishers_[stream_index]->get_subscription_count() == 0) { (!camera_h26x_publishers_[COLOR] &&
camera_h26x_publishers_[COLOR]->get_subscription_count() == 0)) {
return; return;
} }
auto &image = images_[stream_index]; auto &image = images_[stream_index];