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Skip UVC backend setup for explicit Ethernet devices

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This commit is contained in:
0ppenheim7
2026-07-28 15:15:09 +08:00
parent bfc0883a50
commit f78a3efc3c
1 changed files with 14 additions and 10 deletions
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orbbec_camera/src/ob_camera_node_driver.cpp
+14 -10
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@@ -376,20 +376,24 @@ void OBCameraNodeDriver::init() {
net_device_port_ = static_cast<int>(declare_parameter<int>("net_device_port", 0));
enumerate_net_device_ = declare_parameter<bool>("enumerate_net_device", false);
uvc_backend_ = declare_parameter<std::string>("uvc_backend", "libuvc");
const bool use_explicit_net_device =
!enumerate_net_device_ && !net_device_ip_.empty() && net_device_port_ != 0;
device_access_mode_str_ = declare_parameter<std::string>("device_access_mode", "Default");
device_access_mode_ = stringToAccessMode(device_access_mode_str_);
RCLCPP_INFO_STREAM(logger_, "Device access mode: " << device_access_mode_str_ << " ("
<< device_access_mode_ << ")");
if (uvc_backend_ == "libuvc") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else if (uvc_backend_ == "v4l2") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_WARN_STREAM(logger_,
"Unsupported uvc_backend '" << uvc_backend_ << "', using default libuvc");
if (!use_explicit_net_device) {
if (uvc_backend_ == "libuvc") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else if (uvc_backend_ == "v4l2") {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_V4L2);
RCLCPP_INFO_STREAM(logger_, "Set UVC backend to " << uvc_backend_);
} else {
ctx_->setUvcBackendType(OB_UVC_BACKEND_TYPE_LIBUVC);
RCLCPP_WARN_STREAM(logger_,
"Unsupported uvc_backend '" << uvc_backend_ << "', using default libuvc");
}
}
ctx_->enableNetDeviceEnumeration(enumerate_net_device_);
device_changed_callback_id_ = ctx_->registerDeviceChangedCallback(