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fixed gemini2 get stuck

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This commit is contained in:
Joe Dong
2023-03-02 20:15:01 +08:00
parent f8896332c7
commit 63375866be
3 changed files with 19 additions and 3 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+2 -3
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@@ -252,8 +252,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
for (size_t i = 0; i < list->deviceCount(); i++) {
try {
auto pid = list->pid(i);
if ((pid >= OPENNI_START_PID && pid <= OPENNI_END_PID) || pid == ASTRA_MINI_PID ||
pid == ASTRA_MINI_S_PID) {
if (isOpenNIDevice(pid)) {
// openNI device
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
@@ -266,7 +265,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
std::string sn = list->serialNumber(i);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000, "Device serial number: " << sn);
if (sn == serial_number) {
RCLCPP_INFO_STREAM(logger_, "Device serial number <<" << sn << " matched");
RCLCPP_INFO_STREAM(logger_, "Device serial number " << sn << " matched");
return list->getDevice(i);
}
}