Fix an error about trigger.

gdut-dynamic-x · Aug 4, 2023 · f9add89 · f9add89
1 parent 8255104
commit f9add89
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Showing 2 changed files with 7 additions and 5 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -43,6 +43,8 @@ add_library(hk_camera
 target_link_libraries(hk_camera
         libMvCameraControl.so ${catkin_LIBRARIES} ${Opencv_LIBS})
 
+add_dependencies(hk_camera ${PROJECT_NAME}_gencfg)
+
 #add_executable(hk_camera_node
 #        src/hk_camera_node.cpp)
 #add_dependencies(hk_camera_node ${PROJECT_NAME}_gencfg)

diff --git a/src/hk_camera.cpp b/src/hk_camera.cpp
@@ -268,11 +268,11 @@ void HKCameraNodelet::onFrameCB(unsigned char* pData, MV_FRAME_OUT_INFO_EX* pFra
           ROS_WARN("Trigger not in sync!");
           trigger_not_sync_ = true;
         }
-        else if ((now - pkt.trigger_time_).toSec() < 0)
-        {
-          ROS_WARN("Trigger not in sync! Maybe any CAN frames have be dropped?");
-          trigger_not_sync_ = true;
-        }
+//        else if ((now - pkt.trigger_time_).toSec() < 0)
+//        {
+//          ROS_WARN("Trigger not in sync! Maybe any CAN frames have be dropped?");
+//          trigger_not_sync_ = true;
+//        }
         else if ((now - pkt.trigger_time_).toSec() > 0.013)
         {
           ROS_WARN("Trigger not in sync! Maybe imu %s does not actually trigger camera?", imu_name_.c_str());