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Fix crash and change parameter order in gemini435_le launch file by repositioning time_sync_period argument

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This commit is contained in:
xiexun
2025-09-02 17:09:25 +08:00
parent 757ed3c4af
commit e7c4a4acef
6 changed files with 296 additions and 99 deletions
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orbbec_camera/include/orbbec_camera/ob_camera_node.h
-12
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@@ -193,13 +193,6 @@ class OBCameraNode {
void getDepthStatus(orbbec_camera_msgs::msg::DeviceStatus& status_msg) {
fps_delay_status_depth_->fillDepthStatus(status_msg);
status_msg.header.frame_id = camera_link_frame_id_;
}
void publishDeviceStatus(const orbbec_camera_msgs::msg::DeviceStatus& msg) {
if (device_status_pub_) {
device_status_pub_->publish(msg);
}
}
bool checkUserCalibrationReady() {
@@ -245,8 +238,6 @@ class OBCameraNode {
void setupDiagnosticUpdater();
void setupPeriodicHostTimeSync();
void onTemperatureUpdate(diagnostic_updater::DiagnosticStatusWrapper& status);
void setupCameraCtrlServices();
@@ -776,9 +767,7 @@ class OBCameraNode {
// soft ware trigger
rclcpp::TimerBase::SharedPtr software_trigger_timer_;
rclcpp::TimerBase::SharedPtr diagnostic_timer_;
rclcpp::TimerBase::SharedPtr sync_timer_;
std::chrono::milliseconds software_trigger_period_{33};
std::chrono::milliseconds time_sync_period_{6000};
bool enable_heartbeat_ = false;
bool enable_color_undistortion_ = false;
std::shared_ptr<image_publisher> color_undistortion_publisher_;
@@ -835,6 +824,5 @@ class OBCameraNode {
std::unique_ptr<FpsDelayStatus> fps_delay_status_color_{nullptr};
std::unique_ptr<FpsDelayStatus> fps_delay_status_depth_{nullptr};
rclcpp::Publisher<orbbec_camera_msgs::msg::DeviceStatus>::SharedPtr device_status_pub_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/ob_camera_node_driver.h
+4
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@@ -22,6 +22,7 @@
#include "ob_camera_node.h"
#include "utils.h"
#include "dynamic_params.h"
#include <orbbec_camera_msgs/msg/device_status.hpp>
#include "libobsensor/ObSensor.hpp"
#include <pthread.h>
@@ -116,6 +117,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
int net_device_port_ = 0;
int connection_delay_ = 100;
bool enable_sync_host_time_ = true;
std::chrono::milliseconds time_sync_period_{6000};
std::string preset_firmware_path_;
rclcpp::Service<std_srvs::srv::Empty>::SharedPtr reboot_device_srv_ = nullptr;
std::chrono::time_point<std::chrono::system_clock> start_time_;
@@ -125,5 +127,7 @@ class OBCameraNodeDriver : public rclcpp::Node {
std::atomic<bool> firmware_update_success_{false};
rclcpp::TimerBase::SharedPtr device_status_timer_ = nullptr;
int device_status_interval_hz = 2; // 2Hz
rclcpp::Publisher<orbbec_camera_msgs::msg::DeviceStatus>::SharedPtr device_status_pub_ = nullptr;
std::string node_name_;
};
} // namespace orbbec_camera
orbbec_camera/include/orbbec_camera/utils.h
+20 -11
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@@ -32,7 +32,6 @@
#include <iomanip>
#include <arpa/inet.h>
namespace orbbec_camera {
inline void LogFatal(const char* file, int line, const std::string& message) {
std::cerr << "Check failed at " << file << ":" << line << ": " << message << std::endl;
@@ -40,15 +39,25 @@ inline void LogFatal(const char* file, int line, const std::string& message) {
}
} // namespace orbbec_camera
#define TRY_EXECUTE_BLOCK(block) \
try { \
block; \
} catch (const ob::Error& e) { \
RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__, e.getMessage()); \
} catch (const std::exception& e) { \
RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what()); \
} catch (...) { \
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__); \
#define TRY_EXECUTE_BLOCK(block) \
try { \
block; \
} catch (const ob::Error& e) { \
std::string error_msg = e.getMessage() ? e.getMessage() : "Unknown OB error"; \
if (error_msg.find("Device is deactivated") != std::string::npos || \
error_msg.find("disconnected") != std::string::npos || \
error_msg.find("Send control transfer failed") != std::string::npos) { \
RCLCPP_WARN(logger_, \
"Device communication error in %s at line %d: %s - Device may be disconnected", \
__FUNCTION__, __LINE__, error_msg.c_str()); \
} else { \
RCLCPP_ERROR(logger_, "Error in %s at line %d: %s", __FUNCTION__, __LINE__, \
error_msg.c_str()); \
} \
} catch (const std::exception& e) { \
RCLCPP_ERROR(logger_, "Exception in %s at line %d: %s", __FUNCTION__, __LINE__, e.what()); \
} catch (...) { \
RCLCPP_ERROR(logger_, "Unknown exception in %s at line %d", __FUNCTION__, __LINE__); \
}
#define TRY_TO_SET_PROPERTY(func, property, value) \
@@ -200,5 +209,5 @@ cv::Mat undistortImage(const cv::Mat& image, const OBCameraIntrinsic& intrinsic,
std::string getDistortionModels(OBCameraDistortion distortion);
std::string calcMD5(const std::string &data);
std::string calcMD5(const std::string& data);
} // namespace orbbec_camera