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Fix issue with initializing device and enable sync host time

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This commit is contained in:
Joe Dong
2024-09-10 22:10:47 +08:00
parent fc0ef67929
commit 633ff420ff
1 changed files with 2 additions and 0 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+2
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@@ -367,6 +367,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
serial_number_ = device_info_->getSerialNumber(); serial_number_ = device_info_->getSerialNumber();
CHECK_NOTNULL(device_info_.get()); CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->getUid(); device_unique_id_ = device_info_->getUid();
#if 0
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) { if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost()); TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() { sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
@@ -375,6 +376,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
} }
}); });
} }
#endif
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected"); RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->getSerialNumber()); RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->getSerialNumber());