fix: resolve SDK JSON file paths

orbbec_camera/src/ob_camera_node.cpp

@@ -22,6 +22,7 @@
 #include <algorithm>
 #include <cctype>
 #include <cmath>
+#include <cstdlib>
 #include <unordered_map>
 #include <unordered_set>
 
@@ -64,6 +65,20 @@ std::string getDepthFilterStatusName(const std::string &filter_name) {
   return filter_name;
 }
 
+std::filesystem::path resolveConfigJsonFilePath(const std::string &file_path) {
+  std::filesystem::path path(file_path);
+  if ((file_path == "~" || file_path.rfind("~/", 0) == 0) && std::getenv("HOME") != nullptr) {
+    path = std::filesystem::path(std::getenv("HOME"));
+    if (file_path.size() > 2) {
+      path /= file_path.substr(2);
+    }
+  }
+  if (path.is_relative()) {
+    path = std::filesystem::absolute(path);
+  }
+  return path.lexically_normal();
+}
+
 std::string getDepthFilterStatusParamName(const std::string &filter_name,
                                           const std::string &param_name) {
   if (filter_name == "SpatialAdvancedFilter" && param_name == "disp_diff") {
@@ -1595,8 +1610,22 @@ bool OBCameraNode::exportConfigJsonToFile(const std::string &file_path, std::str
   }
 
   try {
-    device_->exportSettingsAsPresetJsonFile(file_path.c_str());
+    const auto resolved_file_path = resolveConfigJsonFilePath(file_path);
-    message = "Exported config json file path: " + file_path;
+    const auto parent_path = resolved_file_path.parent_path();
+    if (!parent_path.empty()) {
+      std::filesystem::create_directories(parent_path);
+    }
+
+    const auto resolved_file_path_str = resolved_file_path.string();
+    device_->exportSettingsAsPresetJsonFile(resolved_file_path_str.c_str());
+    if (!std::filesystem::exists(resolved_file_path)) {
+      message = "Failed to export config json file: file not found after export path=" +
+                resolved_file_path_str;
+      RCLCPP_ERROR_STREAM(logger_, message);
+      return false;
+    }
+
+    message = "Exported config json file path: " + resolved_file_path_str;
     RCLCPP_INFO_STREAM(logger_, message);
     return true;
   } catch (const ob::Error &e) {
@@ -1627,30 +1656,32 @@ void OBCameraNode::loadConfigJson() {
     return;
   }
 
-  std::ifstream load_config_file(load_config_json_file_path_);
+  const auto resolved_file_path = resolveConfigJsonFilePath(load_config_json_file_path_);
+  const auto resolved_file_path_str = resolved_file_path.string();
+  std::ifstream load_config_file(resolved_file_path);
   if (!load_config_file.good()) {
-    RCLCPP_WARN_STREAM(logger_, "Config JSON load skip file=" << load_config_json_file_path_
+    RCLCPP_WARN_STREAM(logger_, "Config JSON load skip file=" << resolved_file_path_str
                                                               << " reason=file_not_found");
     return;
   }
 
   try {
-    device_->loadPresetFromJsonFile(load_config_json_file_path_.c_str());
+    device_->loadPresetFromJsonFile(resolved_file_path_str.c_str());
     config_json_loaded_ = true;
-    RCLCPP_INFO_STREAM(logger_, "Config JSON loaded file=" << load_config_json_file_path_);
+    RCLCPP_INFO_STREAM(logger_, "Config JSON loaded file=" << resolved_file_path_str);
   } catch (const ob::Error &e) {
     config_json_loaded_ = false;
     RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file="
-                                     << load_config_json_file_path_ << " error=\""
+                                     << resolved_file_path_str << " error=\""
                                      << orbbec_camera::formatObErrorWithStatus(e) << "\"");
   } catch (const std::exception &e) {
     config_json_loaded_ = false;
-    RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << load_config_json_file_path_
+    RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str
                                                                  << " error=\"" << e.what()
                                                                  << "\"");
   } catch (...) {
     config_json_loaded_ = false;
-    RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << load_config_json_file_path_);
+    RCLCPP_ERROR_STREAM(logger_, "Config JSON load failed file=" << resolved_file_path_str);
   }
 }