配置color_info_url为标定的ost.yaml文件以后不生效

[PPZPPZ]

产品 : Bus 001 Device 005: ID 2bc5:0559 Orbbec 3D Technology International, Inc Orbbec DaBai DCW RGB Camera Bus 001 Device 006: ID 2bc5:0659 Orbbec 3D Technology International, Inc ORBBEC Depth Sensor ros版本: humble 系统：ubuntu 22.04 问题: 在dabai_dcw.launch.py文件中配置了使用ros2的标定结果， DeclareLaunchArgument('color_info_url', default_value='file:///workspaces/isaac_ros-dev/src/Orbbec_ws/calibration_results/ost.yaml'), 但是查看/camera/color/camera_info话题的时候全是0, 这是/camera/color/camera_info话题内容：

header: stamp: sec: 1730772206 nanosec: 256476928 frame_id: camera_color_optical_frame height: 480 width: 640 distortion_model: rational_polynomial d:

• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0 k:
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 1.0 r:
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0 p:
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 0.0
• 1.0

• 0.0 binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: false

  这是我标定的结果: image_width: 640 image_height: 480 camera_name: narrow_stereo camera_matrix: rows: 3 cols: 3 data: [493.2315 , 0. , 324.64405,

  0. , 495.70937, 248.33809,
  1. , 0. , 1. ] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.006537, -0.025106, 0.001811, -0.001265, 0.000000, 0.0, 0.0, 1.0] rectification_matrix: rows: 3 cols: 3 data: [1., 0., 0., 0., 1., 0., 0., 0., 1.] projection_matrix: rows: 3 cols: 4 data: [488.89151, 0. , 323.42818, 0. ,
  2. , 493.12198, 248.53233, 0. ,
  3. , 0. , 1. , 0. ]

[PPZPPZ]

当彩色分辨率为640x360的时候就会有对应的值，切换到640x480以后就是上面提到的结果

header: stamp: sec: 1730772971 nanosec: 4677888 frame_id: camera_color_optical_frame height: 360 width: 640 distortion_model: rational_polynomial d:

• -0.018494589254260063
• 0.0035181676503270864
• -0.0006001581205055118
• -0.0014886714052408934
• 0.0
• 0.0
• 0.0
• 0.0 k:
• 360.00799560546875
• 0.0
• 320.50604248046875
• 0.0
• 360.00799560546875
• 177.4260711669922
• 0.0
• 0.0
• 1.0 r:
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0
• 0.0
• 0.0
• 0.0
• 1.0 p:
• 360.00799560546875
• 0.0
• 320.50604248046875
• 0.0
• 0.0
• 360.00799560546875
• 177.4260711669922
• 0.0
• 0.0
• 0.0
• 1.0

• 0.0 binning_x: 0 binning_y: 0 roi: x_offset: 0 y_offset: 0 height: 0 width: 0 do_rectify: false