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update 2.0.3

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This commit is contained in:
jj
2024-09-28 19:03:42 +08:00
parent 71ece588b3
commit 9cb729c935
16 changed files with 914 additions and 855 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+6 -3
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@@ -76,7 +76,6 @@ OBCameraNodeDriver::OBCameraNodeDriver(const rclcpp::NodeOptions &node_options)
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v1.0.xml"),
ctx_(std::make_unique<ob::Context>(config_path_.c_str())),
logger_(this->get_logger()),
extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
init();
@@ -88,7 +87,6 @@ OBCameraNodeDriver::OBCameraNodeDriver(const std::string &node_name, const std::
node_options_(node_options),
config_path_(ament_index_cpp::get_package_share_directory("orbbec_camera") +
"/config/OrbbecSDKConfig_v1.0.xml"),
ctx_(std::make_unique<ob::Context>()),
logger_(this->get_logger()),
extension_path_(ament_index_cpp::get_package_prefix("orbbec_camera") + "/lib/extensions") {
init();
@@ -114,7 +112,12 @@ void OBCameraNodeDriver::init() {
signal(SIGFPE, signalHandler); // float point exception
signal(SIGILL, signalHandler); // illegal instruction
ob::Context::setExtensionsDirectory(extension_path_.c_str());
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
if (config_path_.empty()) {
ctx_ = std::make_unique<ob::Context>();
} else {
ctx_ = std::make_unique<ob::Context>(config_path_.c_str());
}
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));