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fix: simplify condition for metadata publisher setup in OBCameraNode

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obyalian
2025-10-17 09:25:08 +08:00
parent 9b66cf57ff
commit a7787004be
1 changed files with 1 additions and 3 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -3
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@@ -2263,9 +2263,7 @@ void OBCameraNode::setupPublishers() {
camera_info_publishers_[stream_index] = node_->create_publisher<CameraInfo>( camera_info_publishers_[stream_index] = node_->create_publisher<CameraInfo>(
topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile), topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile),
camera_info_qos_profile)); camera_info_qos_profile));
if (isGemini335PID(pid) || if (isGemini335PID(pid) || isGemini435LePID(pid)) {
(isGemini435LePID(pid) && stream_index == COLOR &&
(format_[stream_index] == OB_FORMAT_MJPG || format_[stream_index] == OB_FORMAT_UNKNOWN))) {
metadata_publishers_[stream_index] = metadata_publishers_[stream_index] =
node_->create_publisher<orbbec_camera_msgs::msg::Metadata>( node_->create_publisher<orbbec_camera_msgs::msg::Metadata>(
name + "/metadata", name + "/metadata",