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feat: update publisher topics to remove camera name prefix for depth extrinsics

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ob-yalian
2025-11-24 15:23:15 +08:00
parent 81869ffb1b
commit c2a9b197be
1 changed files with 6 additions and 6 deletions
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orbbec_camera/src/ob_camera_node.cpp
+6 -6
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@@ -2326,32 +2326,32 @@ void OBCameraNode::setupPublishers() {
if (enable_stream_[DEPTH] && enable_stream_[INFRA0] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[INFRA0] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA0] = depth_to_other_extrinsics_publishers_[INFRA0] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_ir", extrinsics_qos); "depth_to_ir", extrinsics_qos);
} }
if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[COLOR] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[COLOR] = depth_to_other_extrinsics_publishers_[COLOR] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_color", extrinsics_qos); "depth_to_color", extrinsics_qos);
} }
if (enable_stream_[DEPTH] && enable_stream_[INFRA1] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[INFRA1] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA1] = depth_to_other_extrinsics_publishers_[INFRA1] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_left_ir", extrinsics_qos); "depth_to_left_ir", extrinsics_qos);
} }
if (enable_stream_[DEPTH] && enable_stream_[INFRA2] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[INFRA2] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[INFRA2] = depth_to_other_extrinsics_publishers_[INFRA2] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_right_ir", extrinsics_qos); "depth_to_right_ir", extrinsics_qos);
} }
if (enable_stream_[DEPTH] && enable_stream_[ACCEL] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[ACCEL] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[ACCEL] = depth_to_other_extrinsics_publishers_[ACCEL] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_accel", extrinsics_qos); "depth_to_accel", extrinsics_qos);
} }
if (enable_stream_[DEPTH] && enable_stream_[GYRO] && enable_publish_extrinsic_) { if (enable_stream_[DEPTH] && enable_stream_[GYRO] && enable_publish_extrinsic_) {
depth_to_other_extrinsics_publishers_[GYRO] = depth_to_other_extrinsics_publishers_[GYRO] =
node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"/" + camera_name_ + "/depth_to_gyro", extrinsics_qos); "depth_to_gyro", extrinsics_qos);
} }
filter_status_pub_ = filter_status_pub_ =
node_->create_publisher<std_msgs::msg::String>("depth_filter_status", extrinsics_qos); node_->create_publisher<std_msgs::msg::String>("depth_filter_status", extrinsics_qos);