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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/src/ob_camera_node.cpp
+35
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@@ -53,6 +53,7 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
compression_params_.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
setupDefaultImageFormat();
setupTopics();
setupDiagnosticUpdater();
#if defined(USE_RK_HW_DECODER)
jpeg_decoder_ = std::make_unique<RKJPEGDecoder>(width_[COLOR], height_[COLOR]);
#elif defined(USE_NV_HW_DECODER)
@@ -631,6 +632,40 @@ void OBCameraNode::setupTopics() {
setupPublishers();
}
void OBCameraNode::setupDiagnosticUpdater() {
if (diagnostic_period_ < 0.0) {
return;
}
diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, diagnostic_period_);
auto info = device_->getDeviceInfo();
CHECK_NOTNULL(info);
std::string serial_number = info->serialNumber();
diagnostic_updater_->setHardwareID(serial_number);
diagnostic_updater_->add("Temperature", this, &OBCameraNode::onTemperatureUpdate);
}
void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapper &status) {
try {
OBDeviceTemperature temperature;
uint32_t data_size = sizeof(OBDeviceTemperature);
device_->getStructuredData(OB_STRUCT_DEVICE_TEMPERATURE, &temperature, &data_size);
status.add("CPU Temperature", temperature.cpuTemp);
status.add("IR Temperature", temperature.irTemp);
status.add("LDM Temperature", temperature.ldmTemp);
status.add("MainBoard Temperature", temperature.mainBoardTemp);
status.add("TEC Temperature", temperature.tecTemp);
status.add("IMU Temperature", temperature.imuTemp);
status.add("RGB Temperature", temperature.rgbTemp);
status.add("Left IR Temperature", temperature.irLeftTemp);
status.add("Right IR Temperature", temperature.irRightTemp);
status.add("Chip Top Temperature", temperature.chipTopTemp);
status.add("Chip Bottom Temperature", temperature.chipBottomTemp);
status.summary(diagnostic_msgs::msg::DiagnosticStatus::OK, "Temperature is normal");
} catch (const ob::Error &e) {
status.summary(diagnostic_msgs::msg::DiagnosticStatus::ERROR, e.getMessage());
}
}
void OBCameraNode::setupPipelineConfig() {
if (pipeline_config_) {
pipeline_config_.reset();