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fix: update device PIDs and improve logging messages for Gemini series

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This commit is contained in:
ob-yalian
2026-04-13 20:47:25 +08:00
parent fcd741f541
commit f11e94f452
5 changed files with 42 additions and 27 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+20 -12
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@@ -217,7 +217,8 @@ void OBCameraNodeDriver::init() {
ob::Context::setLoggerFileName(log_file_name);
RCLCPP_INFO_STREAM(logger_, "SDK log file name set to: " << log_file_name);
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "Failed to set SDK log file name: "
<< orbbec_camera::formatObErrorWithStatus(e));
}
}
// Force IP
@@ -528,7 +529,8 @@ void OBCameraNodeDriver::resetDevice() {
device_.reset();
RCLCPP_INFO_STREAM(logger_, "device_ reset completed");
} catch (const ob::Error &e) {
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_WARN_STREAM(logger_, "OB Exception during device reset: "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (const std::exception &e) {
RCLCPP_WARN_STREAM(logger_, "Standard exception during device reset: " << e.what());
} catch (...) {
@@ -838,8 +840,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceBySerialNumber(
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -871,8 +874,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByUSBPort(
}
return device;
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << e.what());
@@ -907,8 +911,9 @@ std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDeviceByNetIP(
return list->getDevice(i, device_access_mode_);
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM_THROTTLE(
logger_, *get_clock(), 5000,
"Failed to get device info " << orbbec_camera::formatObErrorWithStatus(e));
continue;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM_THROTTLE(logger_, *get_clock(), 5000,
@@ -1196,7 +1201,8 @@ bool OBCameraNodeDriver::applyForceIpConfig() {
RCLCPP_ERROR(logger_, "[ForceIP] Failed to apply config (SDK returned false)");
}
} catch (const ob::Error &e) {
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s", orbbec_camera::formatObErrorWithStatus(e).c_str());
RCLCPP_ERROR(logger_, "[ForceIP] ob::Error: %s",
orbbec_camera::formatObErrorWithStatus(e).c_str());
} catch (const std::exception &e) {
RCLCPP_ERROR(logger_, "[ForceIP] std::exception: %s", e.what());
} catch (...) {
@@ -1328,7 +1334,7 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
}
auto pid = device->getDeviceInfo()->getPid();
if (GEMINI_335LG_PID == pid) {
if (GEMINI_335LG_PID == pid || GEMINI_338LG_PID == pid) {
ob_camera_node_->startGmslTrigger();
}
if (isGemini305SeriesPID(pid)) {
@@ -1336,7 +1342,8 @@ void OBCameraNodeDriver::startDevice(const std::shared_ptr<ob::DeviceList> &list
ob_camera_node_->startStreams();
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(
logger_, "Failed to initialize device " << orbbec_camera::formatObErrorWithStatus(e));
start_device_failed = true;
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize device " << e.what());
@@ -1409,7 +1416,8 @@ void OBCameraNodeDriver::updatePresetFirmware(std::string path) {
}
}
} catch (ob::Error &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << orbbec_camera::formatObErrorWithStatus(e));
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware "
<< orbbec_camera::formatObErrorWithStatus(e));
} catch (std::exception &e) {
RCLCPP_ERROR_STREAM(logger_, "Failed to update Preset Firmware " << e.what());
} catch (...) {