i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-10-08 22:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Enhance error handling by formatting error messages

Browse Source
This commit is contained in:
ob-yalian
2026-04-01 20:52:46 +08:00
parent ad55f90bcc
commit b82fc0c267
9 changed files with 108 additions and 92 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/src/ob_lidar_node.cpp
+9 -9
View File
@@ -95,8 +95,8 @@ void OBLidarNode::setupTopics() {
setupProfiles();
setupPublishers();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.getMessage());
throw std::runtime_error(e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << orbbec_camera::formatObErrorWithStatus(e));
throw std::runtime_error(orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to setup topics: " << e.what());
throw std::runtime_error(e.what());
@@ -363,7 +363,7 @@ void OBLidarNode::setupProfiles() {
<< " sample rate " << imu_rate_);
} catch (const ob::Error &e) {
RCLCPP_INFO_STREAM(logger_, "Failed to setup << " << stream_name_[stream_index]
<< " profile: " << e.getMessage());
<< " profile: " << orbbec_camera::formatObErrorWithStatus(e));
enable_stream_[stream_index] = false;
stream_profile_[stream_index] = nullptr;
}
@@ -438,7 +438,7 @@ void OBLidarNode::startStreams() {
onNewFrameSetCallback(frame_set);
});
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to start pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
setupPipelineConfig();
pipeline_->start(pipeline_config_, [this](const std::shared_ptr<ob::FrameSet> &frame_set) {
onNewFrameSetCallback(frame_set);
@@ -509,7 +509,7 @@ void OBLidarNode::stopStreams() {
try {
pipeline_->stop();
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline");
}
@@ -528,7 +528,7 @@ void OBLidarNode::stopIMU() {
imuPipeline_->stop();
imu_sync_output_start_ = false;
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop IMU pipeline: " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "Failed to stop IMU pipeline: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (...) {
RCLCPP_ERROR_STREAM(logger_, "Failed to stop IMU pipeline");
}
@@ -654,7 +654,7 @@ void OBLidarNode::onNewFrameSetCallback(std::shared_ptr<ob::FrameSet> frame_set)
}
}
} catch (const ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << e.getMessage());
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "onNewFrameSetCallback error: " << e.what());
} catch (...) {
@@ -1249,11 +1249,11 @@ void OBLidarNode::calcAndPublishStaticTransform() {
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_,
"Could not get GYRO extrinsic for verification: " << e.getMessage());
"Could not get GYRO extrinsic for verification: " << orbbec_camera::formatObErrorWithStatus(e));
}
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to get ACCEL extrinsic, trying GYRO: " << e.getMessage());
RCLCPP_WARN_STREAM(logger_, "Failed to get ACCEL extrinsic, trying GYRO: " << orbbec_camera::formatObErrorWithStatus(e));
try {
ex = base_stream_profile->getExtrinsicTo(stream_profile_[GYRO]);
RCLCPP_INFO_STREAM(logger_, "Using GYRO extrinsic for IMU");