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fix: guard property readback failures

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This commit is contained in:
slz
2026-09-03 15:06:42 +08:00
parent 27e0c7dc97
commit e48e10f5e9
2 changed files with 221 additions and 169 deletions
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orbbec_camera/src/ob_lidar_node.cpp
+14 -9
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@@ -205,8 +205,10 @@ void OBLidarNode::setupDevices() {
}
}
if (device_->isPropertySupported(OB_PROP_HEARTBEAT_BOOL, OB_PERMISSION_READ_WRITE)) {
RCLCPP_INFO_STREAM(logger_, "Current heartbeat: " << (enable_heartbeat_ ? "ON" : "OFF"));
TRY_TO_SET_PROPERTY(setBoolProperty, OB_PROP_HEARTBEAT_BOOL, enable_heartbeat_);
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
logger_, "Current heartbeat: "
<< (device_->getBoolProperty(OB_PROP_HEARTBEAT_BOOL) ? "ON" : "OFF")));
}
if (!echo_mode_.empty() &&
device_->isPropertySupported(OB_PROP_LIDAR_SPECIFIC_MODE_INT, OB_PERMISSION_READ_WRITE)) {
@@ -215,10 +217,10 @@ void OBLidarNode::setupDevices() {
} else if (echo_mode_ == "First Echo") {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_SPECIFIC_MODE_INT, 1);
}
RCLCPP_INFO_STREAM(
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
logger_, "Current echo mode: " << (device_->getIntProperty(OB_PROP_LIDAR_SPECIFIC_MODE_INT)
? "First Echo"
: "Last Echo"));
: "Last Echo")));
}
if (repetitive_scan_mode_ != -1 &&
device_->isPropertySupported(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
@@ -231,8 +233,9 @@ void OBLidarNode::setupDevices() {
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT,
repetitive_scan_mode_);
RCLCPP_INFO_STREAM(logger_, "Current repetitive scan mode: " << device_->getIntProperty(
OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT));
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
logger_, "Current repetitive scan mode: "
<< device_->getIntProperty(OB_PROP_LIDAR_REPETITIVE_SCAN_MODE_INT)));
}
}
if (filter_level_ != -1 &&
@@ -244,8 +247,9 @@ void OBLidarNode::setupDevices() {
} else {
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT, filter_level_);
TRY_TO_SET_PROPERTY(setIntProperty, OB_PROP_LIDAR_APPLY_CONFIGS_INT, 1);
RCLCPP_INFO_STREAM(logger_, "Current filter level: " << device_->getIntProperty(
OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT));
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
logger_, "Current filter level: "
<< device_->getIntProperty(OB_PROP_LIDAR_TAIL_FILTER_LEVEL_INT)));
}
}
@@ -257,8 +261,9 @@ void OBLidarNode::setupDevices() {
range.min, range.max);
} else {
TRY_TO_SET_PROPERTY(setFloatProperty, OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT, vertical_fov_);
RCLCPP_INFO_STREAM(logger_, "Current vertical fov: " << device_->getFloatProperty(
OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT));
TRY_EXECUTE_BLOCK(RCLCPP_INFO_STREAM(
logger_, "Current vertical fov: "
<< device_->getFloatProperty(OB_PROP_LIDAR_MEMS_FOV_SIZE_FLOAT)));
}
}
}