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fixed stop cause crash

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This commit is contained in:
Joe Dong
2023-10-13 21:40:32 +08:00
parent ab77864452
commit 6d397e3e3a
3 changed files with 5 additions and 4 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -2
View File
@@ -92,6 +92,7 @@ void OBCameraNode::clean() {
}
RCLCPP_WARN_STREAM(logger_, "stop streams");
stopStreams();
stopIMU();
RCLCPP_WARN_STREAM(logger_, "Destroy ~OBCameraNode DONE");
if (rgb_buffer_) {
delete[] rgb_buffer_;
@@ -259,7 +260,6 @@ void OBCameraNode::startStreams() {
pipeline_->enableFrameSync();
}
pipeline_started_.store(true);
startIMU();
}
void OBCameraNode::startIMU() {
@@ -316,7 +316,6 @@ void OBCameraNode::stopStreams() {
}
try {
pipeline_->stop();
stopIMU();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << e.getMessage());
}
orbbec_camera/src/ob_camera_node_driver.cpp
+1
View File
@@ -310,6 +310,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
ob_camera_node_->startStreams();
ob_camera_node_->startIMU();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
CHECK_NOTNULL(device_info_.get());