refactor: simplify image qos logging

orbbec_camera/include/orbbec_camera/utils.h

@@ -188,6 +188,8 @@ std::string ObDeviceTypeToString(const OBDeviceType& type);
 
 rmw_qos_profile_t getRMWQosProfileFromString(const std::string& str_qos);
 
+std::string getRMWQosProfileDescription(const rmw_qos_profile_t& qos_profile);
+
 bool isOpenNIDevice(int pid);
 
 OB_DEPTH_PRECISION_LEVEL depthPrecisionLevelFromString(

orbbec_camera/src/ob_camera_node.cpp

@@ -5446,14 +5446,8 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
     image_publishers_[stream_index] =
         std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
   }
-  std::string depth;
-  if (image_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_LAST) {
-    depth = ", depth=" + std::to_string(image_qos_profile.depth);
-  }
-  RCLCPP_INFO_STREAM(
-      logger_, topic << " QoS: reliability=" << magic_enum::enum_name(image_qos_profile.reliability)
-                     << ", durability=" << magic_enum::enum_name(image_qos_profile.durability)
-                     << ", history=" << magic_enum::enum_name(image_qos_profile.history) << depth);
+  RCLCPP_INFO_STREAM(logger_,
+                     topic << " QoS: " << getRMWQosProfileDescription(image_qos_profile));
 
   if (is_mjpg_color_stream) {
     compressed_image_publishers_[stream_index] =

orbbec_camera/src/ros_service.cpp

@@ -478,7 +478,7 @@ void OBCameraNode::getColorQueueStatsCallback(
       };
     };
 
-    nlohmann::json queues;
+    nlohmann::json queues = nlohmann::json::object();
     uint64_t overflow_count = 0;
     const bool reset = request->data;
     if (enable_stream_[COLOR] || reset) {

orbbec_camera/src/utils.cpp

@@ -23,6 +23,7 @@
 #include <regex>
 #include <sstream>
 #include <vector>
+#include <magic_enum/magic_enum.hpp>
 #include "orbbec_camera/utils.h"
 #include <sensor_msgs/point_cloud2_iterator.hpp>
 #include "orbbec_camera/constants.h"
@@ -566,6 +567,29 @@ rmw_qos_profile_t getRMWQosProfileFromString(const std::string &str_qos) {
   }
 }
 
+std::string getRMWQosProfileDescription(const rmw_qos_profile_t &qos_profile) {
+  const auto short_qos_name = [](auto policy) {
+    auto name = magic_enum::enum_name(policy);
+    constexpr size_t prefix_size = sizeof("RMW_QOS_POLICY_") - 1;
+    if (name.size() <= prefix_size) {
+      return name;
+    }
+    name.remove_prefix(prefix_size);
+    const auto separator = name.find('_');
+    if (separator < name.size()) {
+      name.remove_prefix(separator + 1);
+    }
+    return name;
+  };
+
+  std::string history(short_qos_name(qos_profile.history));
+  if (qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_LAST) {
+    history += "(" + std::to_string(qos_profile.depth) + ")";
+  }
+  return std::string(short_qos_name(qos_profile.reliability)) + "/" +
+         std::string(short_qos_name(qos_profile.durability)) + "/" + history;
+}
+
 bool isOpenNIDevice(int pid) {
   static const std::vector<int> OPENNI_DEVICE_PIDS = {
       0x0300, 0x0301, 0x0400, 0x0401, 0x0402, 0x0403, 0x0404, 0x0407, 0x0601, 0x060b, 0x060e,