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Delete orb_device_lock when the program exits、list_devices_node add USB port type and update multi_save

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This commit is contained in:
jj
2024-11-05 16:20:38 +08:00
parent a2fb93ef29
commit 9cb0b74eed
4 changed files with 204 additions and 65 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+6 -2
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@@ -105,6 +105,11 @@ OBCameraNodeDriver::~OBCameraNodeDriver() {
reset_device_thread_->join();
}
ob_camera_node_->stopGmslTrigger();
if (orb_device_lock_shm_fd_ != -1) {
close(orb_device_lock_shm_fd_);
orb_device_lock_shm_fd_ = -1;
}
shm_unlink(ORB_DEFAULT_LOCK_NAME.c_str());
}
void OBCameraNodeDriver::init() {
@@ -292,8 +297,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
} else if (!usb_port_.empty()) {
RCLCPP_INFO_STREAM(logger_, "Connecting to device with usb port: " << usb_port_);
device = selectDeviceByUSBPort(list, usb_port_);
}
else if (device_num_ == 1) {
} else if (device_num_ == 1) {
RCLCPP_INFO_STREAM(logger_, "Connecting to the default device");
return list->getDevice(0);
}