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feat: add compatibility function for resolving topic names in OBCameraNode

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This commit is contained in:
ob-yalian
2026-09-24 22:39:45 +08:00
parent ac259b2bb7
commit cf30b0e8ff
1 changed files with 18 additions and 1 deletions
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orbbec_camera/src/ob_camera_node.cpp
+18 -1
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@@ -15,6 +15,7 @@
*******************************************************************************/
#include "orbbec_camera/ob_camera_node.h"
#include <rclcpp/expand_topic_or_service_name.hpp>
#include <rclcpp/rclcpp.hpp>
#include <thread>
#include <geometry_msgs/msg/transform_stamped.hpp>
@@ -65,6 +66,20 @@ std::string OBCameraNode::normalizeDepthFilterName(const std::string &filter_nam
namespace {
template <typename NodeTopicsInterfaceT>
auto resolveTopicNameCompat(const NodeTopicsInterfaceT &topics_interface,
const std::string &topic_name, const std::string &, const std::string &,
int) -> decltype(topics_interface.resolve_topic_name(topic_name)) {
return topics_interface.resolve_topic_name(topic_name);
}
template <typename NodeTopicsInterfaceT>
std::string resolveTopicNameCompat(const NodeTopicsInterfaceT &, const std::string &topic_name,
const std::string &node_name, const std::string &node_namespace,
long) {
return rclcpp::expand_topic_or_service_name(topic_name, node_name, node_namespace, false);
}
std::string getDepthFilterStatusName(const std::string &filter_name) {
if (filter_name == "SpatialAdvancedFilter") {
return "SpatialFilter";
@@ -5731,7 +5746,9 @@ void OBCameraNode::setupCameraInfo() {
}
std::string OBCameraNode::resolveStreamStatusTopic(const std::string &topic_name) const {
return node_->get_node_topics_interface()->resolve_topic_name(topic_name);
const auto topics_interface = node_->get_node_topics_interface();
return resolveTopicNameCompat(*topics_interface, topic_name, node_->get_name(),
node_->get_namespace(), 0);
}
std::string OBCameraNode::compressedStreamStatusTopic(const stream_index_pair &stream_index) const {