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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Change to image_transport to allow compressed images + fix deadlock #202

Open ArendJan opened 6 months ago

ArendJan commented 6 months ago

I've changed the publishers to image_transport::publisher, to allow for compressed image transport to save bandwidth.

It works on my Orange Pi 3B running Armbian with ROS noetic and a Astra Pro Plus camera.

ArendJan commented 5 months ago

Also fixes deadlock in the UVCCameraDriver::frameCallback when unsubscribing the last subscriber: The uvc_stop_streamingcall would wait for the frameCallback, which is waiting on the device_lock_, held by the imageUnsubscribedCallback(waiting on uvc_stop_streaming)