From ebe0b77d1d783b2e596514761f207df30734c4f2 Mon Sep 17 00:00:00 2001
From: ob-yalian <luotao2025@163.com>
Date: Thu, 3 Sep 2026 19:31:33 +0800
Subject: [PATCH] fix: update GMSL trigger start condition to prevent
 unnecessary execution

---
 orbbec_camera/src/ob_camera_node.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/orbbec_camera/src/ob_camera_node.cpp b/orbbec_camera/src/ob_camera_node.cpp
index 6d94249b..89d9ee54 100644
--- a/orbbec_camera/src/ob_camera_node.cpp
+++ b/orbbec_camera/src/ob_camera_node.cpp
@@ -4408,7 +4408,10 @@ int OBCameraNode::closeSocSyncPwmTrigger() {
 }
 
 void OBCameraNode::startGmslTrigger() {
-  if (gmsl_trigger_fps_ > 0 && enable_gmsl_trigger_) {
+  if (!enable_gmsl_trigger_) {
+    return;
+  }
+  if (gmsl_trigger_fps_ > 0) {
     RCLCPP_WARN_STREAM(logger_, "Start HardwareTrigger by soc-trigger-source. gmsl_trigger_fps_: "
                                     << gmsl_trigger_fps_);
     openSocSyncPwmTrigger(gmsl_trigger_fps_);