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fixed g2 no color point cloud

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This commit is contained in:
Joe Dong
2024-05-07 11:08:38 +08:00
parent 1670b7a3ac
commit 88e5bff87c
3 changed files with 92 additions and 25 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+2 -1
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@@ -305,8 +305,8 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_.reset();
}
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
ob_camera_node_->startStreams();
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
device_connected_ = true;
device_info_ = device_->getDeviceInfo();
serial_number_ = device_info_->serialNumber();
@@ -320,6 +320,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion());
RCLCPP_INFO_STREAM(logger_, "Hardware version: " << device_info_->hardwareVersion());
RCLCPP_INFO_STREAM(logger_, "device unique id: " << device_unique_id_);
RCLCPP_INFO_STREAM(logger_, "Current node pid: " << getpid());
}
void OBCameraNodeDriver::connectNetDevice(const std::string &net_device_ip, int net_device_port) {