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refactor: improve logging messages for clarity and consistency in camera node

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slz
2026-04-10 17:20:34 +08:00
parent 0035c0b18c
commit 8ec0632b4d
3 changed files with 19 additions and 22 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+3 -7
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@@ -880,10 +880,8 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
const std::shared_ptr<ob::DeviceList> &list, const std::string &usb_port) {
try {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device usb port: " << usb_port);
"Selecting device by USB port: " << usb_port);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device usb port: " << usb_port);
auto device = list->getDeviceByUid(usb_port.c_str(), device_access_mode_);
if (device) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -913,10 +911,8 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
const std::shared_ptr<ob::DeviceList> &list, const std::string &net_ip) {
RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Before lock: Select device net ip: " << net_ip);
"Selecting device by network IP: " << net_ip);
std::lock_guard<decltype(device_lock_)> lock(device_lock_);
RCLCPP_DEBUG_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"After lock: Select device net ip: " << net_ip);
std::shared_ptr<ob::Device> device = nullptr;
for (size_t i = 0; i < list->getCount(); i++) {
try {
@@ -1152,7 +1148,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_lidar_node_->startStreams();
ob_lidar_node_->startIMU();
} else {
RCLCPP_INFO_STREAM(logger_, "ob_camera_node_ is nullptr");
RCLCPP_WARN_STREAM(logger_, "Camera or LiDAR node is null after device initialization");
}
} // namespace orbbec_camera