fix: harden timestamp CSV logger lifecycle and synced IMU setup

orbbec_camera/src/ob_camera_node.cpp

@@ -820,11 +820,6 @@ void OBCameraNode::clean() noexcept {
   is_running_.store(false);
   is_camera_node_initialized_.store(false);
 
-  if (timestamp_csv_logger_) {
-    timestamp_csv_logger_->shutdown();
-    timestamp_csv_logger_.reset();
-  }
-
   // Stop diagnostic timer and updater first BEFORE acquiring device_lock to prevent deadlock
   try {
     if (diagnostic_timer_) {
@@ -884,6 +879,11 @@ void OBCameraNode::clean() noexcept {
     RCLCPP_DEBUG_STREAM(logger_, "Exception while stopping streams");
   }
 
+  if (timestamp_csv_logger_) {
+    timestamp_csv_logger_->shutdown();
+    timestamp_csv_logger_.reset();
+  }
+
   // Clean up d2c_viewer_ before cleaning buffers
   RCLCPP_DEBUG_STREAM(logger_, "Clean d2c_viewer");
   try {

orbbec_camera/src/timestamp_csv_logger.cpp

@@ -30,7 +30,7 @@ TimestampCsvLogger::TimestampCsvLogger(Config config, rclcpp::Logger logger)
     }
   }
 
-  if (config.csv_file_path.empty() || (!config.accel_enabled && !config.gyro_enabled)) {
+  if (config.csv_file_path.empty()) {
     return;
   }