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Merge remote-tracking branch 'github/v2-main' into v2-main

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This commit is contained in:
obyalian
2025-10-22 13:57:56 +08:00
parent 880c70e0b3 bd5c225338
commit 4df01f7d0d
5 changed files with 9 additions and 30 deletions
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orbbec_camera/CMakeLists.txt
-8
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@@ -7,7 +7,6 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fPIC -O3")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -fPIC -O3")
set(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -fPIC -g3")
set(CMAKE_BUILD_TYPE "Release")
option(USE_RK_HW_DECODER "Use Rockchip hardware decoder" OFF)
option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
option(INSTALL_UDEV_RULES "Install udev rule for Orbbec cameras" ON)
@@ -15,12 +14,6 @@ option(INSTALL_UDEV_RULES "Install udev rule for Orbbec cameras" ON)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
endif()
# Check if ROS Jazzy or iron is installed
if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
add_compile_definitions(ROS_JAZZY)
elseif("$ENV{ROS_DISTRO}" STREQUAL "iron")
add_compile_definitions(ROS_IRON)
endif()
# find dependencies
set(dependencies
@@ -41,7 +34,6 @@ set(dependencies
std_msgs
std_srvs
tf2
tf2_eigen
tf2_msgs
tf2_ros
tf2_sensor_msgs
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+2 -2
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@@ -72,9 +72,9 @@
#include <fcntl.h>
#include <unistd.h>
#if defined(ROS_JAZZY) || defined(ROS_IRON)
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#elif __has_include(<cv_bridge/cv_bridge.h>)
#include <cv_bridge/cv_bridge.h>
#endif
orbbec_camera/include/orbbec_camera/ros_param_backend.h
+5 -7
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@@ -22,13 +22,11 @@ class ParametersBackend {
public:
explicit ParametersBackend(rclcpp::Node* node);
~ParametersBackend();
#if defined(ROS_JAZZY) || defined(ROS_IRON)
void addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
#else
void addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
#endif
template <typename T>
void addOnSetParametersCallback(T callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
private:
rclcpp::Node* node_;
orbbec_camera/src/d2c_viewer.cpp
+2 -2
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@@ -14,9 +14,9 @@
* limitations under the License.
*******************************************************************************/
#if defined(ROS_JAZZY) || defined(ROS_IRON)
#if __has_include(<cv_bridge/cv_bridge.hpp>)
#include <cv_bridge/cv_bridge.hpp>
#else
#elif __has_include(<cv_bridge/cv_bridge.h>)
#include <cv_bridge/cv_bridge.h>
#endif
#include <sensor_msgs/image_encodings.hpp>
orbbec_camera/src/ros_param_backend.cpp
-11
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@@ -26,16 +26,5 @@ ParametersBackend::~ParametersBackend() {
ros_callback_.reset();
}
}
#if defined(ROS_JAZZY) || defined(ROS_IRON)
void ParametersBackend::addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#else
void ParametersBackend::addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#endif
} // namespace orbbec_camera