i/OrbbecSDK_ROS2
1
0
Fork 0
mirror of https://github.com/orbbec/OrbbecSDK_ROS2.git synced 2026-09-13 03:30:18 +08:00
Code Issues Packages Projects Releases Wiki Activity

chore: Fixed ros2 jazzy compile error

Browse Source
This commit is contained in:
Joe Dong
2024-06-20 16:59:48 +08:00
parent 3dccdb9d22
commit eed633eb6c
5 changed files with 54 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
orbbec_camera/CMakeLists.txt
+4
View File
@@ -15,6 +15,10 @@ option(USE_NV_HW_DECODER "Use Nvidia hardware decoder" OFF)
if (CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Werror -Wno-pedantic -Wno-array-bounds)
endif ()
# Check if ROS Jazzy is installed
if("$ENV{ROS_DISTRO}" STREQUAL "jazzy")
add_compile_definitions(ROS_JAZZY)
endif()
# find dependencies
set(dependencies
orbbec_camera/include/orbbec_camera/ob_camera_node.h
+6 -1
View File
@@ -27,7 +27,6 @@
#include <vector>
#include <atomic>
#include <opencv2/opencv.hpp>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/msg/point_cloud2.hpp>
#include <sensor_msgs/point_cloud2_iterator.hpp>
#include <tf2_ros/static_transform_broadcaster.h>
@@ -64,6 +63,12 @@
#include "jpeg_decoder.h"
#include <std_msgs/msg/string.hpp>
#if defined(ROS_JAZZY)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
#endif
#define STREAM_NAME(sip) \
(static_cast<std::ostringstream&&>(std::ostringstream() \
<< _stream_name[sip.first] \
orbbec_camera/include/orbbec_camera/ros_param_backend.h
+19 -14
View File
@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#pragma once
#include <rclcpp/rclcpp.hpp>
@@ -22,8 +22,13 @@ class ParametersBackend {
public:
explicit ParametersBackend(rclcpp::Node* node);
~ParametersBackend();
#if defined(ROS_JAZZY)
void addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback);
#else
void addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback);
#endif
private:
rclcpp::Node* node_;
orbbec_camera/src/d2c_viewer.cpp
+4
View File
@@ -13,7 +13,11 @@
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#if defined(ROS_JAZZY)
#include <cv_bridge/cv_bridge.hpp>
#else
#include <cv_bridge/cv_bridge.h>
#endif
#include <sensor_msgs/image_encodings.hpp>
#include <opencv2/opencv.hpp>
orbbec_camera/src/ros_param_backend.cpp
+21 -15
View File
@@ -1,18 +1,18 @@
/*******************************************************************************
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
* Copyright (c) 2023 Orbbec 3D Technology, Inc
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*******************************************************************************/
#include "orbbec_camera/ros_param_backend.h"
namespace orbbec_camera {
@@ -26,10 +26,16 @@ ParametersBackend::~ParametersBackend() {
ros_callback_.reset();
}
}
#if defined(ROS_JAZZY)
void ParametersBackend::addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnSetParametersCallbackType callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#else
void ParametersBackend::addOnSetParametersCallback(
rclcpp::node_interfaces::NodeParametersInterface::OnParametersSetCallbackType callback) {
ros_callback_ = node_->add_on_set_parameters_callback(callback);
}
#endif
} // namespace orbbec_camera