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fix: remove unused filter status publisher and related code in OBCameraNode

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This commit is contained in:
ob-yalian
2026-06-08 16:51:23 +08:00
parent d9f1e60adf
commit b58e9db766
2 changed files with 1 additions and 17 deletions
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orbbec_camera/src/ob_camera_node.cpp
-15
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@@ -4244,11 +4244,6 @@ void OBCameraNode::setupPublishers() {
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>("left_color_to_right_color",
extrinsics_qos);
}
filter_status_pub_ =
node_->create_publisher<std_msgs::msg::String>("depth_filter_status", extrinsics_qos);
std_msgs::msg::String msg;
msg.data = filter_status_.dump(2);
filter_status_pub_->publish(msg);
depth_filters_status_pub_ =
node_->create_publisher<DepthFiltersStatus>("depth_filters/status", extrinsics_qos);
publishDepthFiltersStatus();
@@ -6386,11 +6381,6 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
}
filter_status_[normalized_request_filter_name] = static_cast<bool>(request->filter_enable);
if (filter_status_pub_) {
std_msgs::msg::String msg;
msg.data = filter_status_.dump(2);
filter_status_pub_->publish(msg);
}
publishDepthFiltersStatus();
response->success = true;
@@ -6651,11 +6641,6 @@ void OBCameraNode::setFilterCallback(const std::shared_ptr<SetFilter ::Request>
}
}
filter_status_[normalized_request_filter_name] = static_cast<bool>(request->filter_enable);
if (filter_status_pub_) {
std_msgs::msg::String msg;
msg.data = filter_status_.dump(2);
filter_status_pub_->publish(msg);
}
publishDepthFiltersStatus();
response->success = true;
} catch (const ob::Error &e) {