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refactor: simplify image qos logging

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slz
2026-08-20 14:54:02 +08:00
parent e80760c934
commit 760634fdab
4 changed files with 29 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2 -8
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@@ -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] =