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fixed crash

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This commit is contained in:
Joe Dong
2024-05-22 10:21:51 +08:00
parent 7b13193ee4
commit 917ac05ad1
1 changed files with 13 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+13 -7
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@@ -922,13 +922,13 @@ void OBCameraNode::setupDiagnosticUpdater() {
if (diagnostic_period_ <= 0.0) {
return;
}
try{
RCLCPP_INFO_STREAM(logger_, "Publish diagnostics every " << diagnostic_period_ << " seconds");
auto info = device_->getDeviceInfo();
std::string serial_number = info->serialNumber();
diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, diagnostic_period_);
diagnostic_updater_->setHardwareID(serial_number);
diagnostic_updater_->add("Temperatures", this, &OBCameraNode::onTemperatureUpdate);
try {
RCLCPP_INFO_STREAM(logger_, "Publish diagnostics every " << diagnostic_period_ << " seconds");
auto info = device_->getDeviceInfo();
std::string serial_number = info->serialNumber();
diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, diagnostic_period_);
diagnostic_updater_->setHardwareID(serial_number);
diagnostic_updater_->add("Temperatures", this, &OBCameraNode::onTemperatureUpdate);
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup diagnostic updater: " << e.what());
}
@@ -1092,6 +1092,9 @@ void OBCameraNode::publishPointCloud(const std::shared_ptr<ob::FrameSet> &frame_
void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {
(void)frame_set;
if (!depth_cloud_pub_) {
return;
}
if (depth_cloud_pub_->get_subscription_count() == 0 || !enable_point_cloud_) {
return;
}
@@ -1189,6 +1192,9 @@ void OBCameraNode::publishDepthPointCloud(const std::shared_ptr<ob::FrameSet> &f
}
void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet> &frame_set) {
if (!depth_registration_cloud_pub_) {
return;
}
if (depth_registration_cloud_pub_->get_subscription_count() == 0 ||
!enable_colored_point_cloud_) {
return;