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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/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