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Modify the py file in the launch to fix the abnormal behavior of multiple device hot-swapping in Foxy ROS2 version.

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lixiaobin
2023-11-07 09:31:51 +08:00
parent ca3ad3fbbb
commit bf633463db
23 changed files with 1009 additions and 633 deletions
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orbbec_camera/src/ob_camera_node.cpp
-1
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@@ -814,7 +814,6 @@ void OBCameraNode::onNewFrameSetCallback(const std::shared_ptr<ob::FrameSet> &fr
}
//is_color_frame_decoded_ = decodeColorFrameToBuffer(frame_set->colorFrame(), rgb_buffer_);
//publishPointCloud(frame_set);
std::shared_ptr<ob::ColorFrame> colorFrame = frame_set->colorFrame();
if (enable_stream_[COLOR] && colorFrame){
std::lock_guard<std::mutex> colorLock(colorFrameMtx_);