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fix: initialize pid_ in OBCameraNode constructor to retrieve device PID

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This commit is contained in:
ob-yalian
2026-01-16 15:58:26 +08:00
parent f67742a55e
commit b8b1dc5c3f
1 changed files with 1 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+1 -1
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@@ -44,6 +44,7 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
parameters_(std::move(parameters)),
logger_(node->get_logger()),
use_intra_process_(use_intra_process) {
pid_ = device_->getDeviceInfo()->getPid();
RCLCPP_INFO_STREAM(logger_,
"OBCameraNode: use_intra_process: " << (use_intra_process ? "ON" : "OFF"));
is_running_.store(true);
@@ -62,7 +63,6 @@ OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> devic
compression_params_.push_back(cv::IMWRITE_PNG_STRATEGY_DEFAULT);
setupDefaultImageFormat();
setupTopics();
pid_ = device_->getDeviceInfo()->getPid();
#if defined(USE_RK_HW_DECODER)
if (enable_stream_[COLOR] && width_.count(COLOR) && height_.count(COLOR)) {
jpeg_decoder_ = std::make_unique<RKJPEGDecoder>(width_[COLOR], height_[COLOR]);