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fixed compile error

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This commit is contained in:
Joe Dong
2024-09-10 20:23:20 +08:00
parent b3d590f07e
commit 7a32853e0c
6 changed files with 40 additions and 23 deletions
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orbbec_camera/CMakeLists.txt
+2
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@@ -26,6 +26,7 @@ endif ()
set(dependencies
ament_cmake
ament_index_cpp
backward_ros
Eigen3
builtin_interfaces
cv_bridge
@@ -119,6 +120,7 @@ set(COMMON_LIBRARIES
-L${ORBBEC_LIBS_DIR}
Threads::Threads
-lrt
-ldw
)
if (USE_RK_HW_DECODER)
list(APPEND COMMON_LIBRARIES
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+1
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@@ -26,6 +26,7 @@
#include "libobsensor/ObSensor.hpp"
#include <pthread.h>
#include <std_srvs/srv/empty.hpp>
#include <backward_ros/backward.hpp>
namespace orbbec_camera {
orbbec_camera/include/orbbec_camera/utils.h
+27
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@@ -35,6 +35,33 @@ inline void LogFatal(const char* file, int line, const std::string& message) {
}
} // namespace orbbec_camera
#define TRY_EXECUTE_BLOCK(block) \
try { \
block; \
} catch (const ob::Error& e) { \
RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__, e.getMessage()); \
} catch (const std::exception& e) { \
RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what()); \
} catch (...) { \
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__); \
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.getMessage()); \
} catch (const std::exception& e) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__ \
<< ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value << " in " \
<< __FUNCTION__ << " at line " << __LINE__); \
}
// Macros for checking conditions and comparing values
#define CHECK(condition) \
(!(condition) ? LogFatal(__FILE__, __LINE__, "Check failed: " #condition) : (void)0)
orbbec_camera/package.xml
+1
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@@ -11,6 +11,7 @@
<depend>ament_lint_auto</depend>
<depend>ament_lint_common</depend>
<depend>ament_index_cpp</depend>
<depend>backward_ros</depend>
<depend>image_transport</depend>
<depend>image_publisher</depend>
<depend>rclcpp_components</depend>
orbbec_camera/src/ob_camera_node.cpp
-12
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@@ -131,18 +131,6 @@ void OBCameraNode::clean() noexcept {
}
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
try { \
device_->func(property, value); \
} catch (const ob::Error &e) { \
RCLCPP_ERROR_STREAM( \
logger_, "Failed to set " << property << " to " << value << ": " << e.getMessage()); \
} catch (const std::exception &e) { \
RCLCPP_ERROR_STREAM(logger_, \
"Failed to set " << property << " to " << value << ": " << e.what()); \
} catch (...) { \
RCLCPP_ERROR_STREAM(logger_, "Failed to set " << property << " to " << value); \
}
void OBCameraNode::setupDevices() {
auto sensor_list = device_->getSensorList();
orbbec_camera/src/ob_camera_node_driver.cpp
+9 -11
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@@ -367,17 +367,15 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
serial_number_ = device_info_->getSerialNumber();
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->getUid();
try {
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->getPid())) {
device_->timerSyncWithHost();
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
device_->timerSyncWithHost();
}
});
}
} catch (...) {
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
TRY_EXECUTE_BLOCK(device_->timerSyncWithHost());
}
});
}
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->getName() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->getSerialNumber());
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->getFirmwareVersion());
@@ -388,7 +386,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
auto time_cost = std::chrono::duration_cast<std::chrono::milliseconds>(
std::chrono::high_resolution_clock::now() - start_time_);
RCLCPP_INFO_STREAM(logger_, "Start device cost " << time_cost.count() << " ms");
}
} // namespace orbbec_camera
void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int net_device_port) {
if (net_device_ip.empty() || net_device_port == 0) {