From 6735aee02865bda2d4fff592c5781b0accf46613 Mon Sep 17 00:00:00 2001
From: obyalian <yalian@orbbec.com>
Date: Mon, 8 Sep 2025 15:48:50 +0800
Subject: [PATCH] Refactor device selection logic in OBCameraNodeDriver

---
 orbbec_camera/src/ob_camera_node_driver.cpp | 8 +++-----
 1 file changed, 3 insertions(+), 5 deletions(-)

diff --git a/orbbec_camera/src/ob_camera_node_driver.cpp b/orbbec_camera/src/ob_camera_node_driver.cpp
index 1dc728b3..08706338 100644
--- a/orbbec_camera/src/ob_camera_node_driver.cpp
+++ b/orbbec_camera/src/ob_camera_node_driver.cpp
@@ -275,11 +275,6 @@ void OBCameraNodeDriver::rebootDeviceCallback(
 
 std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
     const std::shared_ptr<ob::DeviceList> &list) {
-  if (device_num_ == 1) {
-    RCLCPP_INFO_STREAM(logger_, "Connecting to the default device");
-    return list->getDevice(0);
-  }
-
   std::shared_ptr<ob::Device> device = nullptr;
   if (!serial_number_.empty()) {
     RCLCPP_INFO_STREAM(logger_, "Connecting to device with serial number: " << serial_number_);
@@ -287,6 +282,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
   } else if (!usb_port_.empty()) {
     RCLCPP_INFO_STREAM(logger_, "Connecting to device with usb port: " << usb_port_);
     device = selectDeviceByUSBPort(list, usb_port_);
+  } else if (device_num_ == 1) {
+    RCLCPP_INFO_STREAM(logger_, "Connecting to the default device");
+    return list->getDevice(0);
   }
   if (device == nullptr) {
     RCLCPP_WARN_THROTTLE(logger_, *get_clock(), 1000, "Device with serial number %s not found",