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Update the frame_id when enable_sync_output_accel_gyro is set to true

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datean
2024-12-24 18:22:18 +08:00
parent 719c075db5
commit 756d9ee5a3
2 changed files with 4 additions and 2 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+1 -1
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@@ -375,7 +375,7 @@ class OBCameraNode {
std::unique_ptr<ob::Pipeline> imuPipeline_ = nullptr;
std::atomic_bool pipeline_started_{false};
std::string camera_name_ = "camera";
const std::string imu_optical_frame_id_ = "camera_gyro_optical_frame";
std::string accel_gyro_frame_id_ = "camera_accel_gyro_optical_frame";
const std::string imu_frame_id_ = "camera_gyro_frame";
std::shared_ptr<ob::Config> pipeline_config_ = nullptr;
std::map<stream_index_pair, std::shared_ptr<ob::Sensor>> sensors_;
orbbec_camera/src/ob_camera_node.cpp
+3 -1
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@@ -1133,6 +1133,8 @@ void OBCameraNode::getParameters() {
depth_aligned_frame_id_[stream_index] = optical_frame_id_[COLOR];
}
accel_gyro_frame_id_ = camera_name_ + "_accel_gyro_optical_frame";
setAndGetNodeParameter(enable_sync_output_accel_gyro_, "enable_sync_output_accel_gyro", false);
for (const auto &stream_index : HID_STREAMS) {
std::string param_name = stream_name_[stream_index] + "_qos";
@@ -2318,7 +2320,7 @@ void OBCameraNode::onNewIMUFrameSyncOutputCallback(const std::shared_ptr<ob::Fra
accel_info.header = imu_msg.header;
imu_info_publishers_[ACCEL]->publish(accel_info);
imu_msg.header.frame_id = imu_optical_frame_id_;
imu_msg.header.frame_id = accel_gyro_frame_id_;
auto gyro_frame = gryoframe->as<ob::GyroFrame>();
auto gyroData = gyro_frame->getValue();