i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-04 20:17:47 +08:00
Code Issues Packages Projects Releases Wiki Activity

Merge branch 'optimize/ros2-image-transport-reuse' into v2/develop

Browse Source
This commit is contained in:
ob-yalian
2026-08-20 18:31:04 +08:00
parent b398dece7e 0facd2f109
commit 50fa1d20fe
4 changed files with 89 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/include/orbbec_camera/image_publisher.h
+7
View File
@@ -49,4 +49,11 @@ class image_transport_publisher : public image_publisher {
private:
std::shared_ptr<image_transport::Publisher> image_publisher_impl;
};
// Keep image_transport plugins and their DDS endpoints alive across camera reconnects.
std::shared_ptr<image_publisher> getGlobalImageTransportPublisher(rclcpp::Node& node,
const std::string& topic_name,
const rmw_qos_profile_t& qos);
void releaseGlobalImageTransportPublisher(rclcpp::Node& node, const std::string& topic_name);
void clearGlobalImageTransportPublishers(rclcpp::Node& node);
} // namespace orbbec_camera