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chore: Update time sync interface

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This commit is contained in:
Joe Dong
2024-07-10 15:02:11 +08:00
parent fa520f95d0
commit f483a67ee2
3 changed files with 8 additions and 1 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+5 -1
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@@ -301,7 +301,11 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
CHECK_NOTNULL(device_info_.get());
device_unique_id_ = device_info_->uid();
if (!isOpenNIDevice(device_info_->pid())) {
ctx_->enableDeviceClockSync(30000); // every 30s sync time
sync_host_time_timer_ = this->create_wall_timer(std::chrono::milliseconds(30000), [this]() {
if (device_) {
device_->timerSyncWithHost();
}
});
}
RCLCPP_INFO_STREAM(logger_, "Device " << device_info_->name() << " connected");
RCLCPP_INFO_STREAM(logger_, "Serial number: " << device_info_->serialNumber());