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disable enableMultiDeviceSync for OpenNI device

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This commit is contained in:
Joe Dong
2023-07-20 10:50:40 +08:00
parent e5bc704f4d
commit bb1caaec2a
1 changed files with 9 additions and 4 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+9 -4
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@@ -173,7 +173,9 @@ void OBCameraNodeDriver::deviceCountUpdate() {
void OBCameraNodeDriver::syncTime() {
while (is_alive_ && rclcpp::ok()) {
ctx_->enableMultiDeviceSync(0);
if (device_ && device_info_ && !isOpenNIDevice(device_info_->pid())) {
ctx_->enableMultiDeviceSync(0);
}
std::this_thread::sleep_for(std::chrono::milliseconds(5000));
}
}
@@ -188,6 +190,7 @@ void OBCameraNodeDriver::resetDevice() {
}
ob_camera_node_.reset();
device_.reset();
device_info_.reset();
device_connected_ = false;
device_unique_id_.clear();
reset_device_flag_ = false;
@@ -335,7 +338,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
auto port_id = parseUsbPort(uid);
if (port_id == usb_port) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000,
"Device port id " << port_id << " matched");
"Device port id " << port_id << " matched");
return dev;
}
} else {
@@ -344,7 +347,7 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 1000, "Device usb port: " << uid);
if (port_id == usb_port) {
RCLCPP_INFO_STREAM_THROTTLE(logger_, *get_clock(), 1000,
"Device usb port " << uid << " matched");
"Device usb port " << uid << " matched");
return list->getDevice(i);
}
}
@@ -371,7 +374,9 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
device_info_ = device_->getDeviceInfo();
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
ctx_->enableMultiDeviceSync(0); // sync time stamp
if (!isOpenNIDevice(device_info_->pid())) {
ctx_->enableMultiDeviceSync(0); // sync time stamp
}
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->name() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->serialNumber());
RCLCPP_INFO_STREAM(logger_, "Firmware version: " << device_info_->firmwareVersion());