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replace stereo module with depth module #2688

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Merged
Nir-Az merged 1 commit into from
Apr 12, 2023
+6 −6
Merged

replace stereo module with depth module #2688

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6 changes: 3 additions & 3 deletions realsense2_camera/src/ros_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -244,7 +244,7 @@ void RosSensor::stop()
{
if (get_active_streams().size() == 0)
return;
ROS_INFO_STREAM("Stop Sensor: " << get_info(RS2_CAMERA_INFO_NAME));
ROS_INFO_STREAM("Stop Sensor: " << rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)));
_frequency_diagnostics.clear();

try
Expand Down Expand Up @@ -337,13 +337,13 @@ bool RosSensor::getUpdatedProfiles(std::vector<stream_profile>& wanted_profiles)
profile_manager->addWantedProfiles(wanted_profiles);
}

ROS_DEBUG_STREAM(get_info(RS2_CAMERA_INFO_NAME) << ":" << "active_profiles.size() = " << active_profiles.size());
ROS_DEBUG_STREAM(rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)) << ":" << "active_profiles.size() = " << active_profiles.size());
for (auto& profile : active_profiles)
{
ROS_DEBUG_STREAM("Sensor profile: " << ProfilesManager::profile_string(profile));
}

ROS_DEBUG_STREAM(get_info(RS2_CAMERA_INFO_NAME) << ":" << "wanted_profiles");
ROS_DEBUG_STREAM(rs2_to_ros(get_info(RS2_CAMERA_INFO_NAME)) << ":" << "wanted_profiles");
for (auto& profile : wanted_profiles)
{
ROS_DEBUG_STREAM("Sensor profile: " << ProfilesManager::profile_string(profile));
Expand Down
6 changes: 3 additions & 3 deletions realsense2_camera/src/rs_node_setup.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -139,7 +139,7 @@ void BaseRealSenseNode::setAvailableSensors()

for(auto&& sensor : _dev_sensors)
{
const std::string module_name(sensor.get_info(RS2_CAMERA_INFO_NAME));
const std::string module_name(rs2_to_ros(sensor.get_info(RS2_CAMERA_INFO_NAME)));
std::unique_ptr<RosSensor> rosSensor;
if (sensor.is<rs2::depth_sensor>() ||
sensor.is<rs2::color_sensor>() ||
Expand Down Expand Up @@ -304,7 +304,7 @@ void BaseRealSenseNode::updateSensors()
try{
for(auto&& sensor : _available_ros_sensors)
{
std::string module_name(sensor->get_info(RS2_CAMERA_INFO_NAME));
std::string module_name(rs2_to_ros(sensor->get_info(RS2_CAMERA_INFO_NAME)));
// if active_profiles != wanted_profiles: stop sensor.
std::vector<stream_profile> wanted_profiles;

Expand Down Expand Up @@ -386,7 +386,7 @@ void BaseRealSenseNode::getDeviceInfo(const realsense2_camera_msgs::srv::DeviceI

for(auto&& sensor : _available_ros_sensors)
{
sensors_names << create_graph_resource_name(sensor->get_info(RS2_CAMERA_INFO_NAME)) << ",";
sensors_names << create_graph_resource_name(rs2_to_ros(sensor->get_info(RS2_CAMERA_INFO_NAME))) << ",";
}

res->sensors = sensors_names.str().substr(0, sensors_names.str().size()-1);
Expand Down