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feat: add bag record and playback support

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slz
2026-06-16 16:57:46 +08:00
parent 9126013267
commit d801d5670b
5 changed files with 115 additions and 7 deletions
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orbbec_camera/src/ob_camera_node.cpp
+17 -3
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@@ -548,12 +548,14 @@ void OBCameraNode::publishDepthFiltersStatus() {
}
OBCameraNode::OBCameraNode(rclcpp::Node *node, std::shared_ptr<ob::Device> device,
std::shared_ptr<Parameters> parameters, bool use_intra_process)
std::shared_ptr<Parameters> parameters, bool use_intra_process,
bool is_playback_device)
: node_(node),
device_(std::move(device)),
parameters_(std::move(parameters)),
logger_(node->get_logger()),
use_intra_process_(use_intra_process) {
use_intra_process_(use_intra_process),
is_playback_device_(is_playback_device) {
pid_ = device_->getDeviceInfo()->getPid();
RCLCPP_INFO_STREAM(logger_,
"OBCameraNode: use_intra_process: " << (use_intra_process ? "ON" : "OFF"));
@@ -879,6 +881,16 @@ void OBCameraNode::setupDevices() {
}
auto device_info = device_->getDeviceInfo();
CHECK_NOTNULL(device_info);
if (is_playback_device_) {
// Everything below this point only tunes real-hardware-only behavior
// (heartbeat, USB3 retry, laser, depth limits, multi-device sync, PTP,
// etc.). Those SDK device components aren't registered on a playback
// device, so querying them throws instead of returning "not supported".
// None of it is needed to correctly publish a recorded .bag file.
return;
}
auto should_apply_launch_config = [this](const std::string &param_name) {
return isLaunchParamProvided(param_name);
};
@@ -3967,7 +3979,9 @@ void OBCameraNode::onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapp
}
void OBCameraNode::setupDiagnosticUpdater() {
if (diagnostic_period_ <= 0.0) {
if (diagnostic_period_ <= 0.0 || is_playback_device_) {
// Temperature reporting requires live hardware monitoring that doesn't
// exist for a recorded .bag file; skip to avoid repeated SDK errors.
return;
}
try {