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Merge remote-tracking branch 'origin/feat/bag-record-playback' into merge/sdk_2.9.0

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ob-yalian
2026-06-20 16:24:42 +08:00
parent 0384847615 f8f37a34fd
commit 7c88f3c581
26 changed files with 317 additions and 19 deletions
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orbbec_camera/src/ob_camera_node.cpp
+38 -4
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@@ -572,12 +572,14 @@ void OBCameraNode::publishDepthFiltersStatus() {
}
OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> device,
std::shared_ptr<Parameters> parameters, bool use_intra_process)
std::shared_ptr<Parameters> parameters, bool use_intra_process,
bool is_playback_device)
: node_(node),
device_(std::move(device)),
parameters_(std::move(parameters)),
logger_(node->get_logger()),
use_intra_process_(use_intra_process) {
use_intra_process_(use_intra_process),
is_playback_device_(is_playback_device) {
pid_ = device_->getDeviceInfo()->getPid();
RCLCPP_INFO_STREAM(logger_,
"OBCameraNode: use_intra_process: " << (use_intra_process ? "ON" : "OFF"));
@@ -903,6 +905,16 @@ void OBCameraNode::setupDevices() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (is_playback_device_) {
// Everything below this point only tunes real-hardware-only behavior
// (heartbeat, USB3 retry, laser, depth limits, multi-device sync, PTP,
// etc.). Those SDK device components aren't registered on a playback
// device, so querying them throws instead of returning "not supported".
// None of it is needed to correctly publish a recorded .bag file.
return;
}
auto should_apply_launch_config = [this](const std::string &param_name) {
return isLaunchParamProvided(param_name);
};
@@ -3613,6 +3625,26 @@ void OBCameraNode::startIMU() {
}
}
void OBCameraNode::restartPlaybackStreams() {
if (!is_playback_device_ || !is_running_.load()) {
return;
}
try {
stopStreams();
startStreams();
stopIMU();
startIMU();
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to restart playback streams: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to restart playback streams: " << e.what());
} catch (...) {
RCLCPP_WARN_STREAM(logger_, "Failed to restart playback streams");
}
}
void OBCameraNode::stopStreams() {
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
@@ -4099,7 +4131,7 @@ void OBCameraNode::getParameters() {
if (isOpenNIDevice(pid_)) {
time_domain_ = "system";
}
if (time_domain_ == "global") {
if (time_domain_ == "global" && !is_playback_device_) {
device_->enableGlobalTimestamp(true);
}
setAndGetNodeParameter<int>(frames_per_trigger_, "frames_per_trigger", 2);
@@ -4291,7 +4323,9 @@ void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapp
}
void OBCameraNode::setupDiagnosticUpdater() {
if (diagnostic_period_ <= 0.0) {
if (diagnostic_period_ <= 0.0 || is_playback_device_) {
// Temperature reporting requires live hardware monitoring that doesn't
// exist for a recorded .bag file; skip to avoid repeated SDK errors.
return;
}
try {