diff options
| -rw-r--r-- | 0001-start-color-sensor-before-stereo.patch | 53 | ||||
| -rw-r--r-- | realsense2-camera.spec | 7 |
2 files changed, 59 insertions, 1 deletions
diff --git a/0001-start-color-sensor-before-stereo.patch b/0001-start-color-sensor-before-stereo.patch new file mode 100644 index 0000000..dbf744a --- /dev/null +++ b/0001-start-color-sensor-before-stereo.patch @@ -0,0 +1,53 @@ +From 310p-color-first Mon Sep 17 00:00:00 2001 +From: openEuler Embodied AI Team <embodied-ai@openeuler.org> +Date: Tue, 28 Jul 2026 00:00:00 +0000 +Subject: [PATCH] Start color sensor before stereo sensor + +On the affected 310P USB path, configuring Stereo before RGB can leave the +shared control endpoint unable to complete the later Color format setup. +Keep the existing relative order for all other sensors while starting the +Color sensor first. + +This is a startup-order workaround. It does not suppress or repair the +underlying UVC control transfer failure. +--- + src/rs_node_setup.cpp | 17 +++++++++++++++-- + 1 file changed, 15 insertions(+), 2 deletions(-) + +diff --git a/src/rs_node_setup.cpp b/src/rs_node_setup.cpp +index 2106bdf..b28f986 100755 +--- a/src/rs_node_setup.cpp ++++ b/src/rs_node_setup.cpp +@@ -13,6 +13,7 @@ + // limitations under the License. + + #include "../include/base_realsense_node.h" ++#include <algorithm> + #include <image_publisher.h> + #include <fstream> + #include <rclcpp/qos.hpp> +@@ -491,7 +492,21 @@ void BaseRealSenseNode::stopRequiredSensors() + void BaseRealSenseNode::startUpdatedSensors() + { + try{ +- for(auto&& sensor : _available_ros_sensors) ++ std::vector<RosSensor*> sensors_to_start; ++ sensors_to_start.reserve(_available_ros_sensors.size()); ++ for (auto& sensor : _available_ros_sensors) ++ sensors_to_start.push_back(sensor.get()); ++ ++ // Configure RGB before Stereo so the shared EP0 control failure cannot ++ // interrupt the Color UVC format negotiation. ++ std::stable_sort(sensors_to_start.begin(), sensors_to_start.end(), ++ [](const RosSensor* lhs, const RosSensor* rhs) { ++ const bool lhs_is_color = lhs->is<rs2::color_sensor>(); ++ const bool rhs_is_color = rhs->is<rs2::color_sensor>(); ++ return lhs_is_color && !rhs_is_color; ++ }); ++ ++ for(auto* sensor : sensors_to_start) + { + std::string module_name(rs2_to_ros(sensor->get_info(RS2_CAMERA_INFO_NAME))); + // if active_profiles != wanted_profiles: stop sensor. +-- +2.43.0 diff --git a/realsense2-camera.spec b/realsense2-camera.spec index 8ce0127..bc96d5d 100644 --- a/realsense2-camera.spec +++ b/realsense2-camera.spec @@ -11,12 +11,13 @@ Name: ros-%{ros_distro}-%{RosPkgName} Version: 4.57.7 -Release: 4%{?dist}%{?release_suffix} +Release: 5%{?dist}%{?release_suffix} Summary: RealSense camera package allowing access to RealSense D400 3D cameras Url: http://www.ros.org/wiki/RealSense License: Apache License 2.0 Source0: %{RosPkgName}-%{version}.tar.gz +Patch0: 0001-start-color-sensor-before-stereo.patch Requires: eigen3-devel Requires: ros-%{ros_distro}-builtin-interfaces @@ -141,5 +142,9 @@ else echo "RPM TESTS SKIPPED"; fi /opt/ros/%{ros_distro} %changelog +* Wed Aug 12 2026 openEuler Embodied AI Team embodied-ai@openeuler.org - 4.57.7-5 +- Start the color sensor before the stereo sensor on the affected 310P USB path +- Preserve the existing relative order for all other sensors + * Fri Apr 03 2026 LibRealSense Team rsswsdk@realsensecloud.onmicrosoft.com - 4.57.7-4 - Autogenerated by ros-porting-tools |