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fixed enum openNI device

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This commit is contained in:
Joe Dong
2023-02-15 15:05:47 +08:00
parent dbaf8ba265
commit 9b79d6696b
2 changed files with 19 additions and 6 deletions
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orbbec_camera/src/ob_camera_node_factory.cpp
+14 -1
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@@ -191,6 +191,19 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
}
try {
auto device = list->getDeviceBySN(serial_number_.c_str());
if (device == nullptr) {
for (size_t i = 0; i < list->deviceCount(); i++) {
auto dev = list->getDevice(i);
if (dev != nullptr) {
std::string sn = dev->getDeviceInfo()->serialNumber();
RCLCPP_INFO_STREAM(logger_, "Device serial number: " << sn);
if (sn == serial_number_ || lower_sn == sn) {
device = dev;
break;
}
}
}
}
device_ = device;
} catch (ob::Error &e) {
RCLCPP_INFO_STREAM(logger_, "Failed to get device info " << e.getMessage());
@@ -201,7 +214,7 @@ void OBCameraNodeFactory::startDevice(const std::shared_ptr<ob::DeviceList> &lis
}
if (device_ == nullptr) {
RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str());
// RCLCPP_WARN(logger_, "Device with serial number %s not found", serial_number_.c_str());
device_connected_ = false;
return;
} else {