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fix: restore Foxy compatibility for AE/AWB lock test

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slz
2026-09-02 16:29:25 +08:00
parent 2ddfa0abbb
commit 9d92f4718a
1 changed files with 14 additions and 2 deletions
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orbbec_camera/examples/ae_awb_lock/ae_awb_lock_test_node.cpp
+14 -2
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@@ -132,6 +132,18 @@ class AeAwbLockTestNode : public rclcpp::Node {
} }
} }
// Foxy has no public API for removing timed-out requests. Newer rclcpp versions do, so use it
// when available without making the example depend on a particular ROS distribution.
template <typename ClientT, typename PendingRequestT>
static auto removePendingRequestIfSupported(const ClientT& client,
const PendingRequestT& pending_request, int)
-> decltype(client->remove_pending_request(pending_request), void()) {
client->remove_pending_request(pending_request);
}
template <typename ClientT, typename PendingRequestT>
static void removePendingRequestIfSupported(const ClientT&, const PendingRequestT&, long) {}
template <typename ServiceT> template <typename ServiceT>
typename ServiceT::Response::SharedPtr callService( typename ServiceT::Response::SharedPtr callService(
const typename rclcpp::Client<ServiceT>::SharedPtr& client, const typename rclcpp::Client<ServiceT>::SharedPtr& client,
@@ -139,7 +151,7 @@ class AeAwbLockTestNode : public rclcpp::Node {
const Deadline& deadline) { const Deadline& deadline) {
auto pending_request = client->async_send_request(request); auto pending_request = client->async_send_request(request);
if (pending_request.wait_until(deadline) != std::future_status::ready) { if (pending_request.wait_until(deadline) != std::future_status::ready) {
client->remove_pending_request(pending_request); removePendingRequestIfSupported(client, pending_request, 0);
throw std::runtime_error(service_name + " timed out"); throw std::runtime_error(service_name + " timed out");
} }
auto response = pending_request.get(); auto response = pending_request.get();
@@ -174,7 +186,7 @@ class AeAwbLockTestNode : public rclcpp::Node {
return getIntValue(get_status_client_, "get_color_ae_awb_status", deadline); return getIntValue(get_status_client_, "get_color_ae_awb_status", deadline);
} }
void colorMetadataCallback(const Metadata::ConstSharedPtr& metadata) { void colorMetadataCallback(Metadata::ConstSharedPtr metadata) {
{ {
std::lock_guard<std::mutex> lock(metadata_mutex_); std::lock_guard<std::mutex> lock(metadata_mutex_);
latest_color_metadata_ = metadata; latest_color_metadata_ = metadata;