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Fix namespaced params #15

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Merged
merged 4 commits into from
Nov 12, 2025
Merged

Fix namespaced params #15

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5c5f1aa
fix frame param
SushiRaj99 Nov 11, 2025
79cee13
fix other frame id
SushiRaj99 Nov 11, 2025
e3265a0
add namespacing
SushiRaj99 Nov 11, 2025
cdbf46a
add namespacing to a couple more services
SushiRaj99 Nov 12, 2025
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8 changes: 4 additions & 4 deletions orbbec_camera/src/ob_camera_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -992,7 +992,7 @@ void OBCameraNode::setupDepthPostProcessFilter() {
}
}
set_filter_srv_ = node_->create_service<SetFilter>(
"set_filter", [this](const std::shared_ptr<SetFilter ::Request> request,
camera_name_ + "/set_filter", [this](const std::shared_ptr<SetFilter ::Request> request,
std::shared_ptr<SetFilter ::Response> response) {
setFilterCallback(request, response);
});
Expand Down Expand Up @@ -1545,8 +1545,8 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<bool>(mirror_stream_[stream_index], param_name, false);
param_name = stream_name_[stream_index] + "_rotation";
setAndGetNodeParameter<int>(rotation_stream_[stream_index], param_name, -1);
param_name = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = camera_name_ + "_" + stream_name_[stream_index] + "_frame";
param_name = stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
std::string default_optical_frame_id =
namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_optical_frame";
Expand Down Expand Up @@ -1582,7 +1582,7 @@ void OBCameraNode::getParameters() {
setAndGetNodeParameter<std::string>(imu_rate_[stream_index], param_name, "");
param_name = stream_name_[stream_index] + "_range";
setAndGetNodeParameter<std::string>(imu_range_[stream_index], param_name, "");
param_name = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame_id";
param_name = stream_name_[stream_index] + "_frame_id";
std::string default_frame_id = namespace_ + camera_name_ + "_" + stream_name_[stream_index] + "_frame";
setAndGetNodeParameter(frame_id_[stream_index], param_name, default_frame_id);
std::string default_optical_frame_id =
Expand Down
2 changes: 1 addition & 1 deletion orbbec_camera/src/ob_camera_node_driver.cpp
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Expand Up @@ -150,7 +150,7 @@ void OBCameraNodeDriver::init() {
return;
}
reboot_device_srv_ = this->create_service<std_srvs::srv::Empty>(
"reboot_device", std::bind(&OBCameraNodeDriver::rebootDeviceCallback, this,
g_camera_name + "/reboot_device", std::bind(&OBCameraNodeDriver::rebootDeviceCallback, this,
std::placeholders::_1, std::placeholders::_2));
pthread_mutexattr_init(&orb_device_lock_attr_);
pthread_mutexattr_setpshared(&orb_device_lock_attr_, PTHREAD_PROCESS_SHARED);
Expand Down