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fix: improve error logging formatting in OBCameraNode methods

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This commit is contained in:
ob-yalian
2026-04-03 15:18:11 +08:00
parent 56101ad955
commit 6a47379761
1 changed files with 53 additions and 34 deletions
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orbbec_camera/src/ob_camera_node.cpp
+53 -34
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@@ -288,7 +288,8 @@ void OBCameraNode::setupDevices() {
TRY_EXECUTE_BLOCK(device_->loadPreset(device_preset_.c_str()));
RCLCPP_INFO_STREAM(logger_, "Device preset " << device_->getCurrentPresetName() << " loaded");
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to load device preset: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to load device preset: " << e.what());
} catch (...) {
@@ -1567,8 +1568,9 @@ void OBCameraNode::setupProfiles() {
<< imu_range_[stream_index] << " sample rate "
<< imu_rate_[stream_index]);
} 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 setup << "
<< stream_name_[stream_index]
<< " profile: " << orbbec_camera::formatObErrorWithStatus(e));
enable_stream_[stream_index] = false;
stream_profile_[stream_index] = nullptr;
}
@@ -1652,7 +1654,8 @@ void OBCameraNode::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));
RCLCPP_INFO_STREAM(logger_, "try to disable ir stream and try again");
enable_stream_[INFRA0] = false;
setupPipelineConfig();
@@ -1759,7 +1762,8 @@ void OBCameraNode::startIMUSyncStream() {
<< fullGyroScaleRangeToString(gyro_range)
<< ",rate:" << sampleRateToString(gyro_rate));
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start IMU sync stream: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to start IMU sync stream: " << orbbec_camera::formatObErrorWithStatus(e));
imu_sync_output_start_ = false;
} catch (...) {
RCLCPP_ERROR_STREAM(
@@ -1829,8 +1833,8 @@ void OBCameraNode::stopStreams() {
interleave_frame_enable_);
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(
logger_, "Failed to disable interleave frame during shutdown: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "Failed to disable interleave frame during shutdown: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Failed to disable interleave frame during shutdown");
}
@@ -1840,7 +1844,8 @@ void OBCameraNode::stopStreams() {
"Device or pipeline not available during stop - likely disconnected");
}
} 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");
}
@@ -1857,7 +1862,8 @@ void OBCameraNode::stopIMU() {
try {
imuPipeline_->stop();
} 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");
}
@@ -1870,8 +1876,9 @@ void OBCameraNode::stopIMU() {
try {
sensors_[stream_index]->stop();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop " << stream_name_[stream_index]
<< " stream: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to stop "
<< stream_name_[stream_index] << " stream: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
imu_started_[stream_index] = false;
}
@@ -2355,7 +2362,8 @@ void OBCameraNode::setupTopics() {
setupPublishers();
setupDiagnosticUpdater();
} 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());
@@ -2416,7 +2424,8 @@ void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapp
status.add("Chip Bottom Temperature", temperature.chipBottomTemp);
status.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Temperature is normal");
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to TemperatureUpdate1: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to TemperatureUpdate1: " << orbbec_camera::formatObErrorWithStatus(e));
status.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR,
orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
@@ -2473,8 +2482,9 @@ void OBCameraNode::setupDiagnosticUpdater() {
}
diagnostic_cv_.notify_all();
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Diagnostic update failed: "
<< orbbec_camera::formatObErrorWithStatus(e) << " - Device may be disconnected");
RCLCPP_WARN_STREAM(
logger_, "Diagnostic update failed: " << orbbec_camera::formatObErrorWithStatus(e)
<< " - Device may be disconnected");
// Stop the diagnostic timer if device is having issues
try {
if (diagnostic_timer_) {
@@ -2491,7 +2501,8 @@ void OBCameraNode::setupDiagnosticUpdater() {
}
});
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: " << e.what());
} catch (...) {
@@ -3369,7 +3380,8 @@ void OBCameraNode::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 (...) {
@@ -3484,7 +3496,8 @@ std::shared_ptr<ob::Frame> OBCameraNode::softwareDecodeColorFrame(
try {
color_frame = filter->process(frame);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Format convert failed: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_,
"Format convert failed: " << orbbec_camera::formatObErrorWithStatus(e));
return nullptr;
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Format convert failed: " << e.what());
@@ -4137,8 +4150,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = stream_profile->getExtrinsicTo(base_stream_profile);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << stream_name_[stream_index]
<< " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << stream_name_[stream_index] << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
@@ -4182,8 +4195,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[COLOR]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[COLOR] = ex;
@@ -4198,8 +4211,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA0]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[INFRA0] = ex;
@@ -4213,8 +4226,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA1]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[INFRA1] = ex;
@@ -4228,8 +4241,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[INFRA2]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
ex.trans[0] = -std::abs(ex.trans[0]);
@@ -4244,8 +4257,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[ACCEL]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[ACCEL] = ex;
@@ -4259,8 +4272,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[GYRO] = ex;
@@ -4274,8 +4287,8 @@ void OBCameraNode::calcAndPublishStaticTransform() {
try {
ex = stream_profile_[COLOR_LEFT]->getExtrinsicTo(stream_profile_[COLOR_RIGHT]);
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_,
"Failed to get " << frame_id << " extrinsic: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to get " << frame_id << " extrinsic: "
<< orbbec_camera::formatObErrorWithStatus(e));
ex = OBExtrinsic({{1, 0, 0, 0, 1, 0, 0, 0, 1}, {0, 0, 0}});
}
depth_to_other_extrinsics_[COLOR_LEFT] = ex;
@@ -4722,6 +4735,12 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
<< ", " << configSchema.def << ", " << configSchema.desc << "}" << std::endl;
}
}
filter_status_[request->filter_name] = request->filter_enable;
if (filter_status_pub_) {
std_msgs::msg::String msg;
msg.data = filter_status_.dump(2);
filter_status_pub_->publish(msg);
}
response->success = true;
} catch (const ob::Error &e) {
response->message = orbbec_camera::formatObErrorWithStatus(e);