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Update dependencies and add diagnostic updater to OBCameraNode

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This commit is contained in:
Joe Dong
2024-04-09 17:32:45 +08:00
parent caab21ec1b
commit 74215ba767
5 changed files with 50 additions and 1 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+9
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@@ -62,6 +62,9 @@
#include "magic_enum/magic_enum.hpp"
#include "jpeg_decoder.h"
#include <diagnostic_updater/diagnostic_updater.hpp>
#include <diagnostic_msgs/msg/diagnostic_status.hpp>
#define STREAM_NAME(sip) \
(static_cast<std::ostringstream&&>(std::ostringstream() \
<< _stream_name[sip.first] \
@@ -159,6 +162,10 @@ class OBCameraNode {
void setupTopics();
void setupDiagnosticUpdater();
void onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapper& status);
void setupPipelineConfig();
void setupCameraCtrlServices();
@@ -455,5 +462,7 @@ class OBCameraNode {
bool enable_depth_scale_ = true;
bool is_openni_device_ = false;
std::string align_mode_ = "HW";
std::unique_ptr<diagnostic_updater::Updater> diagnostic_updater_ = nullptr;
double diagnostic_period_ = 1.0;
};
} // namespace orbbec_camera