i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 12:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

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

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