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fixed camera link frame id

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This commit is contained in:
Joe Dong
2023-06-13 15:23:58 +08:00
parent 550c914f88
commit 4919a67f09
1 changed files with 1 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -1
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@@ -320,6 +320,7 @@ void OBCameraNode::setupDefaultImageFormat() {
void OBCameraNode::getParameters() { void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera"); setAndGetNodeParameter<std::string>(camera_name_, "camera_name", "camera");
camera_link_frame_id_ = camera_name_ + "_link";
for (auto stream_index : IMAGE_STREAMS) { for (auto stream_index : IMAGE_STREAMS) {
std::string param_name = stream_name_[stream_index] + "_width"; std::string param_name = stream_name_[stream_index] + "_width";
setAndGetNodeParameter(width_[stream_index], param_name, IMAGE_WIDTH); setAndGetNodeParameter(width_[stream_index], param_name, IMAGE_WIDTH);
@@ -380,7 +381,6 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(ir_info_url_, "ir_info_url", ""); setAndGetNodeParameter<std::string>(ir_info_url_, "ir_info_url", "");
setAndGetNodeParameter<std::string>(color_info_url_, "color_info_url", ""); setAndGetNodeParameter<std::string>(color_info_url_, "color_info_url", "");
setAndGetNodeParameter(enable_colored_point_cloud_, "enable_colored_point_cloud", false); setAndGetNodeParameter(enable_colored_point_cloud_, "enable_colored_point_cloud", false);
setAndGetNodeParameter(camera_link_frame_id_, "camera_link_frame_id", DEFAULT_BASE_FRAME_ID);
setAndGetNodeParameter(enable_point_cloud_, "enable_point_cloud", true); setAndGetNodeParameter(enable_point_cloud_, "enable_point_cloud", true);
setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default"); setAndGetNodeParameter<std::string>(point_cloud_qos_, "point_cloud_qos", "default");
setAndGetNodeParameter(enable_publish_extrinsic_, "enable_publish_extrinsic", false); setAndGetNodeParameter(enable_publish_extrinsic_, "enable_publish_extrinsic", false);