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add py launch file

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This commit is contained in:
Joe Dong
2023-08-23 10:53:34 +08:00
parent 726435771c
commit bb51e34ed3
2 changed files with 36 additions and 46 deletions
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orbbec_camera/src/list_devices_node.cpp
+19 -11
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@@ -4,17 +4,25 @@
#include <orbbec_camera/utils.h>
int main() {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
try {
auto context = std::make_unique<ob::Context>();
context->setLoggerSeverity(OBLogSeverity::OB_LOG_SEVERITY_NONE);
auto list = context->queryDeviceList();
for (size_t i = 0; i < list->deviceCount(); i++) {
auto device = list->getDevice(i);
auto device_info = device->getDeviceInfo();
std::string serial = device_info->serialNumber();
std::string uid = device_info->uid();
auto usb_port = orbbec_camera::parseUsbPort(uid);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "serial: " << serial);
RCLCPP_INFO_STREAM(rclcpp::get_logger("list_device_node"), "usb port: " << usb_port);
}
} catch (const std::exception &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.what());
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), e.getMessage());
} catch (...) {
RCLCPP_ERROR_STREAM(rclcpp::get_logger("list_device_node"), "unknown error");
}
return 0;
}