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This commit is contained in:
jj
2025-06-09 21:24:06 +08:00
parent b1ee682007
commit f06fc6de7f
8 changed files with 445 additions and 183 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+12 -8
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@@ -279,6 +279,7 @@ void OBCameraNodeDriver::resetDevice() {
std::lock_guard<decltype(device_lock_)> device_lock(device_lock_);
{
ob_camera_node_.reset();
ob_lidar_node_.reset();
device_.reset();
device_info_.reset();
device_connected_ = false;
@@ -450,8 +451,8 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
} else if (device_type_ == "lidar") {
ob_lidar_node_ = std::make_unique<OBLidarNode>(this, device_, parameters_,
node_options_.use_intra_process_comms());
ob_lidar_node_ = std::make_unique<orbbec_lidar::OBLidarNode>(
this, device_, parameters_, node_options_.use_intra_process_comms());
}
initialized = true;
@@ -512,12 +513,15 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
std::placeholders::_2, std::placeholders::_3),
false);
}
// if (ob_camera_node_) {
// ob_camera_node_->startIMU();
// ob_camera_node_->startStreams();
// } else {
// RCLCPP_INFO_STREAM(logger_, "ob_camera_node_ is nullptr");
// }
if (ob_camera_node_) {
ob_camera_node_->startIMU();
ob_camera_node_->startStreams();
} else if (ob_lidar_node_) {
// ob_lidar_node_->startIMU();
ob_lidar_node_->startStreams();
} else {
RCLCPP_INFO_STREAM(logger_, "ob_camera_node_ is nullptr");
}
} // namespace orbbec_camera