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feat: add delay before stopping streams

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slz
2026-08-20 16:35:33 +08:00
parent 6a44bb965e
commit e8bd3687ae
2 changed files with 4 additions and 0 deletions
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orbbec_camera/src/ob_camera_node.cpp
+2
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@@ -3746,6 +3746,8 @@ bool OBCameraNode::applyStreamProfiles(const std::vector<PendingStreamProfile> &
const bool interleave_frame_enable = interleave_frame_enable_; const bool interleave_frame_enable = interleave_frame_enable_;
if (restart_pipeline) { if (restart_pipeline) {
stopStreams(); stopStreams();
RCLCPP_DEBUG_STREAM(logger_, "Wait 1 second for streams to stop before applying profiles");
std::this_thread::sleep_for(std::chrono::seconds(1));
interleave_frame_enable_ = interleave_frame_enable; interleave_frame_enable_ = interleave_frame_enable;
} }
stopColorFrameThreads(); stopColorFrameThreads();
orbbec_camera/src/ros_service.cpp
+2
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@@ -1941,6 +1941,8 @@ bool OBCameraNode::toggleSensor(const stream_index_pair& stream_index, bool enab
std::lock_guard<decltype(device_lock_)> lock(device_lock_); std::lock_guard<decltype(device_lock_)> lock(device_lock_);
try { try {
pipeline_->stop(); pipeline_->stop();
RCLCPP_DEBUG_STREAM(logger_, "Wait 1 second for streams to stop before toggling sensor");
std::this_thread::sleep_for(std::chrono::seconds(1));
enable_stream_[stream_index] = enabled; enable_stream_[stream_index] = enabled;
setupProfiles(); setupProfiles();
startStreams(); startStreams();