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feat: configure image publisher history depth

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slz
2026-08-19 10:08:17 +08:00
parent 282ab4b022
commit ac4346468e
22 changed files with 196 additions and 13 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
+4
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@@ -324,6 +324,8 @@ class OBCameraNode {
void setupImagePublisher(const stream_index_pair& stream_index);
rmw_qos_profile_t getImageQosProfile(const stream_index_pair& stream_index) const;
void setupPipelineConfig();
void setupDiagnosticUpdater();
@@ -692,6 +694,8 @@ class OBCameraNode {
std::string camera_link_frame_id_;
bool depth_registration_ = false;
std::map<stream_index_pair, std::string> image_qos_;
std::map<stream_index_pair, std::string> image_qos_history_;
std::map<stream_index_pair, int> image_qos_depth_;
std::map<stream_index_pair, std::string> camera_info_qos_;
std::map<stream_index_pair, ob_format> format_;
std::map<stream_index_pair, std::string> format_str_;