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comment start&& stop IMU

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This commit is contained in:
Joe Dong
2023-05-08 17:52:57 +08:00
parent bca846a464
commit dc45022290
1 changed files with 9 additions and 9 deletions
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orbbec_camera/src/ob_camera_node.cpp
+9 -9
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@@ -470,15 +470,15 @@ void OBCameraNode::setupPublishers() {
topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile), topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(camera_info_qos_profile),
camera_info_qos_profile)); camera_info_qos_profile));
} }
for (const auto& stream_index : HID_STREAMS) { // for (const auto& stream_index : HID_STREAMS) {
if (!enable_stream_[stream_index]) { // if (!enable_stream_[stream_index]) {
continue; // continue;
} // }
std::string data_topic_name = stream_name_[stream_index] + "/sample"; // std::string data_topic_name = stream_name_[stream_index] + "/sample";
auto data_qos = getRMWQosProfileFromString(imu_qos_[stream_index]); // auto data_qos = getRMWQosProfileFromString(imu_qos_[stream_index]);
imu_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Imu>( // imu_publishers_[stream_index] = node_->create_publisher<sensor_msgs::msg::Imu>(
data_topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos)); // data_topic_name, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(data_qos), data_qos));
} // }
if (enable_publish_extrinsic_) { if (enable_publish_extrinsic_) {
extrinsics_publisher_ = node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>( extrinsics_publisher_ = node_->create_publisher<orbbec_camera_msgs::msg::Extrinsics>(
"extrinsic/depth_to_color", rclcpp::QoS{1}.transient_local()); "extrinsic/depth_to_color", rclcpp::QoS{1}.transient_local());