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fix: restart playback streams on loop

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slz
2026-06-16 18:31:58 +08:00
parent 7af4470b28
commit 8b261fce77
3 changed files with 23 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+20
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@@ -3303,6 +3303,26 @@ 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_);