From e020ba6d3f7e6718574e9de85ee4a6384675e982 Mon Sep 17 00:00:00 2001
From: Joe Dong <jian.dong@pobox.com>
Date: Thu, 25 Apr 2024 10:53:18 +0800
Subject: [PATCH] Fixed maybe can not read temperature warning

---
 orbbec_camera/src/ob_camera_node.cpp | 12 ++++++++----
 1 file changed, 8 insertions(+), 4 deletions(-)

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 0dd05a19..bf756c99 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -248,10 +248,10 @@ void OBCameraNode::setupProfiles() {
       for (size_t i = 0; i < profiles->count(); i++) {
         auto profile = profiles->getProfile(i)->as<ob::VideoStreamProfile>();
         RCLCPP_DEBUG_STREAM(
-            logger_, "Sensor profile: "
-                         << "stream_type: " << magic_enum::enum_name(profile->type())
-                         << "Format: " << profile->format() << ", Width: " << profile->width()
-                         << ", Height: " << profile->height() << ", FPS: " << profile->fps());
+            logger_,
+            "Sensor profile: " << "stream_type: " << magic_enum::enum_name(profile->type())
+                               << "Format: " << profile->format() << ", Width: " << profile->width()
+                               << ", Height: " << profile->height() << ", FPS: " << profile->fps());
         supported_profiles_[elem].emplace_back(profile);
       }
       std::shared_ptr<ob::VideoStreamProfile> selected_profile;
@@ -636,6 +636,10 @@ void OBCameraNode::setupDiagnosticUpdater() {
   if (diagnostic_period_ < 0.0) {
     return;
   }
+  if (!device_->isPropertySupported(OB_STRUCT_DEVICE_TEMPERATURE, OB_PERMISSION_READ)) {
+    RCLCPP_WARN_STREAM(logger_, "Device doesn't support temperature reading.");
+    return;
+  }
   diagnostic_updater_ = std::make_unique<diagnostic_updater::Updater>(node_, diagnostic_period_);
   auto info = device_->getDeviceInfo();
   CHECK_NOTNULL(info);