Fix crash by improving lock handling

orbbec_camera/include/orbbec_camera/d2c_viewer.h

@@ -42,5 +42,9 @@ class D2CViewer {
                                                                        sensor_msgs::msg::Image>;
   std::shared_ptr<message_filters::Synchronizer<MySyncPolicy>> sync_;
   rclcpp::Publisher<sensor_msgs::msg::Image>::SharedPtr d2c_viewer_pub_;
+
+  // Add thread safety
+  std::mutex callback_mutex_;
+  std::atomic<bool> is_active_{true};
 };
 }  // namespace orbbec_camera

orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h

@@ -87,6 +87,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
   std::shared_ptr<ob::DeviceInfo> device_info_ = nullptr;
   std::atomic_bool is_alive_{false};
   std::atomic_bool device_connected_{false};
+  std::atomic_bool device_connecting_{false};
   std::string serial_number_;
   std::string device_unique_id_;
   std::string usb_port_;