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Fix the crash problem caused by starting the upgrade_firmware param for a single camera when multiple cameras are connected on the PC.

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This commit is contained in:
jj
2025-05-15 11:21:33 +08:00
parent dc49ff8759
commit 55dedb8c0d
1 changed files with 14 additions and 10 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+14 -10
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@@ -465,13 +465,6 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
retry_count++;
}
if (!upgrade_firmware_.empty()) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
}
if (!initialized) {
RCLCPP_ERROR_STREAM(logger_,
@@ -480,9 +473,6 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
" attempts.");
}
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->getSerialNumber();
@@ -510,6 +500,20 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
if (!upgrade_firmware_.empty()) {
device_->updateFirmware(
upgrade_firmware_.c_str(),
std::bind(&OBCameraNodeDriver::firmwareUpdateCallback, this, std::placeholders::_1,
std::placeholders::_2, std::placeholders::_3),
false);
}
if (ob_camera_node_) {
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
} else {
RCLCPP_INFO_STREAM(logger_, "ob_camera_node_ is nullptr");
}
} // namespace orbbec_camera
void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int net_device_port) {