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feat: implement stream status tracking and update device status message structure

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ob-yalian
2026-09-21 15:45:46 +08:00
parent 80f9a24778
commit c1eda5e187
10 changed files with 246 additions and 299 deletions
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orbbec_camera/examples/Gemini_435Le_example_node/camera_example_node.cpp
+6 -8
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@@ -193,14 +193,12 @@ class CameraExampleNode : public rclcpp::Node {
void deviceStatusCallback(const orbbec_camera_msgs::msg::DeviceStatus::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(), "-------orbbec camera real-time status-------");
RCLCPP_INFO(this->get_logger(), "--------------------------------------------");
RCLCPP_INFO(this->get_logger(), "Color Frame Rate: Cur: %.2f, Avg: %.2f",
msg->color_frame_rate_cur, msg->color_frame_rate_avg);
RCLCPP_INFO(this->get_logger(), "Depth Frame Rate: Cur: %.2f, Avg: %.2f",
msg->depth_frame_rate_cur, msg->depth_frame_rate_avg);
RCLCPP_INFO(this->get_logger(), "Color Delay (ms): Cur: %.2f, Avg: %.2f",
msg->color_delay_ms_cur, msg->color_delay_ms_avg);
RCLCPP_INFO(this->get_logger(), "Depth Delay (ms): Cur: %.2f, Avg: %.2f",
msg->depth_delay_ms_cur, msg->depth_delay_ms_avg);
for (const auto &stream : msg->streams) {
RCLCPP_INFO(this->get_logger(),
"Topic: %s, Subscribers: %s, Rate: %.2f Hz, Avg Delay: %.2f ms",
stream.topic_name.c_str(), stream.has_subscribers ? "true" : "false",
stream.publish_rate_hz, stream.delay_ms_avg);
}
RCLCPP_INFO(this->get_logger(), "Device Online: %s", msg->device_online ? "True" : "False");
RCLCPP_INFO(this->get_logger(), "Connection Type: %s", msg->connection_type.c_str());