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refactor: improve logging messages for clarity and consistency across camera and lidar nodes

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This commit is contained in:
slz
2026-04-07 17:39:00 +08:00
parent 194de7e339
commit 5a799bfc21
4 changed files with 125 additions and 110 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+31 -24
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@@ -94,7 +94,8 @@ void OBLidarNode::setupTopics() {
setupProfiles();
setupPublishers();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_,
"Failed to setup topics: " << orbbec_camera::formatObErrorWithStatus(e));
throw std::runtime_error(orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.what());
@@ -303,20 +304,20 @@ void OBLidarNode::setupProfiles() {
<< "Format:" << format_[elem]);
RCLCPP_INFO_STREAM(logger_, "Available profiles:");
printSensorProfiles(sensor);
RCLCPP_ERROR(logger_, "Because can not set this stream, so exit.");
RCLCPP_ERROR(logger_, "Failed to configure the requested stream profile, exiting.");
exit(-1);
}
if (!selected_profile) {
RCLCPP_WARN_STREAM(logger_, "Given stream configuration is not supported by the device! "
<< " Stream: " << magic_enum::enum_name(elem.first)
<< ", Stream Index: " << elem.second
<< ", Scan Rate: " << rate_[elem]);
RCLCPP_WARN_STREAM(
logger_, "Requested stream configuration is not supported by the device: "
<< "stream=" << magic_enum::enum_name(elem.first)
<< ", stream_index=" << elem.second << ", scan_rate=" << rate_[elem]);
if (default_profile) {
RCLCPP_WARN_STREAM(logger_, "Using default profile instead.");
RCLCPP_WARN_STREAM(logger_, "default scan Rate "
<< magic_enum::enum_name(default_profile->getScanRate())
<< "default format:"
<< magic_enum::enum_name(default_profile->getFormat()));
RCLCPP_WARN_STREAM(logger_, "Using the default profile instead");
RCLCPP_WARN_STREAM(
logger_, "Default profile: scan_rate="
<< magic_enum::enum_name(default_profile->getScanRate())
<< ", format=" << magic_enum::enum_name(default_profile->getFormat()));
selected_profile = default_profile;
} else {
RCLCPP_ERROR_STREAM(
@@ -354,12 +355,12 @@ void OBLidarNode::setupProfiles() {
auto profile = profile_list->getGyroStreamProfile(full_scale_range, sample_rate);
stream_profile_[stream_index] = profile;
}
RCLCPP_INFO_STREAM(logger_, "stream " << stream_name_[stream_index] << " full scale range "
RCLCPP_INFO_STREAM(logger_, "Stream " << stream_name_[stream_index] << " full scale range: "
<< (stream_index == ACCEL ? accel_range_ : gyro_range_)
<< " sample rate " << imu_rate_);
<< ", sample rate: " << imu_rate_);
} catch (const ob::Error &e) {
RCLCPP_INFO_STREAM(logger_, "Failed to setup << " << stream_name_[stream_index]
<< " profile: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_INFO_STREAM(logger_, "Failed to set up " << stream_name_[stream_index] << " profile: "
<< orbbec_camera::formatObErrorWithStatus(e));
enable_stream_[stream_index] = false;
stream_profile_[stream_index] = nullptr;
}
@@ -434,7 +435,8 @@ void OBLidarNode::startStreams() {
onNewFrameSetCallback(frame_set);
});
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_,
"Failed to start pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
setupPipelineConfig();
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set);
@@ -505,7 +507,8 @@ void OBLidarNode::stopStreams() {
try {
pipeline_->stop();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_,
"Failed to stop pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline");
}
@@ -517,14 +520,16 @@ void OBLidarNode::stopIMU() {
}
if (!imu_sync_output_start_ || !imuPipeline_) {
RCLCPP_DEBUG_STREAM(logger_, "IMU pipeline not started or not exist, skip stop imu pipeline");
RCLCPP_DEBUG_STREAM(logger_,
"IMU pipeline not started or unavailable, skip stopping IMU pipeline");
return;
}
try {
imuPipeline_->stop();
imu_sync_output_start_ = false;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop IMU pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to stop IMU pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop IMU pipeline");
}
@@ -537,7 +542,7 @@ void OBLidarNode::setupPipelineConfig() {
pipeline_config_ = std::make_shared<ob::Config>();
for (const auto &stream_index : LIDAR_STREAMS) {
if (enable_stream_[stream_index]) {
RCLCPP_INFO_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
RCLCPP_DEBUG_STREAM(logger_, "Enable " << stream_name_[stream_index] << " stream");
auto profile = stream_profile_[stream_index]->as<ob::LiDARStreamProfile>();
if (enable_stream_[stream_index]) {
@@ -650,7 +655,8 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
}
}
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "onNewFrameSetCallback error: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << e.what());
} catch (...) {
@@ -1244,12 +1250,13 @@ void OBLidarNode::calcAndPublishStaticTransform() {
RCLCPP_DEBUG_STREAM(logger_, "ACCEL and GYRO extrinsics are identical");
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_,
"Could not get GYRO extrinsic for verification: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "Could not get GYRO extrinsic for verification: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to get ACCEL extrinsic, trying GYRO: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "Failed to get ACCEL extrinsic, trying GYRO: "
<< orbbec_camera::formatObErrorWithStatus(e));
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
RCLCPP_INFO_STREAM(logger_, "Using GYRO extrinsic for IMU");