From c28fcb90525c1ec82f3d301b7454e52aa00d8ff5 Mon Sep 17 00:00:00 2001
From: slz <shenlanzhou@orbbec.com>
Date: Mon, 7 Sep 2026 17:19:37 +0800
Subject: [PATCH] fix: limit unaligned depth topic to software D2C

---
 orbbec_camera/src/ob_camera_node.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 2a7ddc32..e3fe768a 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -5792,6 +5792,11 @@ void OBCameraNode::syncSoftwareAlignment() {
       align_filter_ = std::make_unique<ob::Align>(align_target_stream_);
       RCLCPP_INFO_STREAM(logger_, "set align mode to " << align_mode_);
     }
+    if (align_target_stream_ != OB_STREAM_COLOR) {
+      releaseGlobalImageTransportPublisher(*node_, "depth/image_unaligned");
+      depth_unaligned_publisher_.reset();
+      return;
+    }
     if (!depth_unaligned_publisher_) {
       const auto depth_image_qos_profile = getImageQosProfile(DEPTH);
       if (use_intra_process_) {