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chore: Add time domain params

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This commit is contained in:
Joe Dong
2024-07-17 16:56:52 +08:00
parent 7b28c3284a
commit 905b13c877
8 changed files with 76 additions and 34 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+3 -1
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@@ -60,6 +60,7 @@ void OBCameraNodeDriver::init() {
auto log_level_str = declare_parameter<std::string>("log_level", "none");
auto log_level = obLogSeverityFromString(log_level_str);
connection_delay_ = static_cast<int>(declare_parameter<int>("connection_delay", 100));
enable_sync_host_time_ = declare_parameter<bool>("enable_sync_host_time", true);
ob::Context::setLoggerToConsole(log_level);
orb_device_lock_shm_fd_ = shm_open(ORB_DEFAULT_LOCK_NAME.c_str(), O_CREAT | O_RDWR, 0666);
if (orb_device_lock_shm_fd_ < 0) {
@@ -300,7 +301,8 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
serial_number_ = device_info_->serialNumber();
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
if (!isOpenNIDevice(device_info_->pid())) {
if (enable_sync_host_time_ && !isOpenNIDevice(device_info_->pid())) {
device_->timerSyncWithHost();
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
device_->timerSyncWithHost();