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feat: add ROS log level and custom log file name launch arguments for lidar

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slz
2026-03-27 11:06:18 +08:00
parent 26f20bf0ae
commit 78f6ce7d05
2 changed files with 11 additions and 1 deletions
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orbbec_camera/launch/lidar.launch.py
+10
View File
@@ -171,6 +171,16 @@ def generate_launch_description():
default_value='none', default_value='none',
description='SDK log level: none, debug, info, warn, error, fatal.' description='SDK log level: none, debug, info, warn, error, fatal.'
), ),
DeclareLaunchArgument(
'ros_log_level',
default_value='info',
description='ROS log level: debug, info, warn, error, fatal.'
),
DeclareLaunchArgument(
'log_file_name',
default_value='',
description='Custom log file name for SDK logs. If empty, default naming is used.'
),
DeclareLaunchArgument( DeclareLaunchArgument(
'time_domain', 'time_domain',
default_value='device', # global, device, system default_value='device', # global, device, system
orbbec_camera/src/ob_lidar_node.cpp
+1 -1
View File
@@ -80,7 +80,7 @@ void OBLidarNode::clean() noexcept {
if (tf_thread_ && tf_thread_->joinable()) { if (tf_thread_ && tf_thread_->joinable()) {
tf_thread_->join(); tf_thread_->join();
} }
RCLCPP_DEBUG_STREAM(logger_, "Stop color frame thread"); RCLCPP_DEBUG_STREAM(logger_, "Stop streams");
stopStreams(); stopStreams();
stopIMU(); stopIMU();
RCLCPP_DEBUG_STREAM(logger_, "OBLidarNode cleanup complete"); RCLCPP_DEBUG_STREAM(logger_, "OBLidarNode cleanup complete");