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fix: harden color queue stats and dual-color qos

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slz
2026-08-19 17:54:49 +08:00
parent db4df46c03
commit e80760c934
3 changed files with 31 additions and 20 deletions
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orbbec_camera/src/ob_camera_node.cpp
Executable → Regular
+7 -7
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@@ -16,7 +16,6 @@
#include "orbbec_camera/ob_camera_node.h"
#include <rclcpp/rclcpp.hpp>
#include <rmw/qos_string_conversions.h>
#include <thread>
#include <geometry_msgs/msg/transform_stamped.hpp>
#include <sstream>
@@ -453,7 +452,8 @@ void OBCameraNode::publishDepthFiltersStatus() {
depth_filters_snapshot = depth_filter_list_;
}
auto find_depth_filter = [&depth_filters_snapshot](const std::string &filter_name) -> std::shared_ptr<ob::Filter> {
auto find_depth_filter =
[&depth_filters_snapshot](const std::string &filter_name) -> std::shared_ptr<ob::Filter> {
const auto normalized_name = normalizeDepthFilterName(filter_name);
auto it = std::find_if(depth_filters_snapshot.begin(), depth_filters_snapshot.end(),
[&normalized_name](const auto &filter) {
@@ -5446,14 +5446,14 @@ void OBCameraNode::setupImagePublisher(const stream_index_pair &stream_index) {
image_publishers_[stream_index] =
std::make_shared<image_transport_publisher>(*node_, topic, image_qos_profile);
}
std::string history = rmw_qos_history_policy_to_str(image_qos_profile.history);
std::string depth;
if (image_qos_profile.history == RMW_QOS_POLICY_HISTORY_KEEP_LAST) {
history += "(" + std::to_string(image_qos_profile.depth) + ")";
depth = ", depth=" + std::to_string(image_qos_profile.depth);
}
RCLCPP_INFO_STREAM(
logger_, topic << " QoS: " << rmw_qos_reliability_policy_to_str(image_qos_profile.reliability)
<< ", " << rmw_qos_durability_policy_to_str(image_qos_profile.durability)
<< ", " << history);
logger_, topic << " QoS: reliability=" << magic_enum::enum_name(image_qos_profile.reliability)
<< ", durability=" << magic_enum::enum_name(image_qos_profile.durability)
<< ", history=" << magic_enum::enum_name(image_qos_profile.history) << depth);
if (is_mjpg_color_stream) {
compressed_image_publishers_[stream_index] =