fix: fix the error frame_id in msg

Signed-off-by: Lin Zhanye <[email protected]>

Author: quic-zhanlin

CHANGELOG.md

@@ -1,5 +1,12 @@
 # Changelog for package qrb_ros_camera
 
+## 2.0.1 (2025-09-5)
+
+- Fix msg frame_id error issue
+- Add OX03F10 camera config file
+- update document to support ubuntu as tier 1 platform
+- Contributors: Zhanye Lin, Peng Wang
+
 ## 2.0.0 (2025-05-30)
 
 - First version for jazzy

README.md

@@ -345,10 +345,20 @@ def generate_launch_description():
 
 ## 👨‍💻 Build from source
 
+### Dependencies
 Install dependencies
 
 ```bash
-sudo apt install ros-jazzy-qrb-ros-transport-image-type
+sudo add-apt-repository ppa:ubuntu-qcom-iot/qcom-noble-ppa
+sudo add-apt-repository ppa:ubuntu-qcom-iot/qirp
+sudo apt update
+
+sudo apt install ros-jazzy-qrb-ros-transport-image-type \
+  ros-dev-tools \
+  qcom-camera-server \
+  qcom-syslog-plumber-dev \
+  libqmmf-dev \
+  qcom-camxapi-dev
 ```
 
 Download the source code and build with colcon

qrb_camera/CMakeLists.txt

@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.8.2)
-project(qrb_camera VERSION 2.0.0)
+project(qrb_camera VERSION 2.0.1)
 
 set(CMAKE_INCLUDE_CURRENT_DIR ON)
 
@@ -51,4 +51,4 @@ if(BUILD_TESTING)
 
 endif()
 
-ament_auto_package()
+ament_auto_package()

qrb_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>qrb_camera</name>
-  <version>2.0.0</version>
+  <version>2.0.1</version>
   <description>Qualcomm Robotics Camera Interface</description>
   <maintainer email="[email protected]">Zhanye Lin</maintainer>
   <license>BSD-3-Clause-Clear</license>

qrb_ros_camera/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>qrb_ros_camera</name>
-  <version>2.0.0</version>
+  <version>2.0.1</version>
   <description>camera ros2node</description>
   <maintainer email="[email protected]">Tian Ding</maintainer>
   <license>BSD-3-Clause-Clear</license>

qrb_ros_camera/src/camera_node.cpp

@@ -163,7 +163,8 @@ std::unique_ptr<qrb_ros::transport::type::Image> CameraNode::convert_camera_fram
   auto timestamp = frame->timestamp + time_offset_;
   image_handler->header.stamp.sec = timestamp / 1000000000LL;
   image_handler->header.stamp.nanosec = timestamp % 1000000000LL;
-  image_handler->header.frame_id = frame->stream_name + "_" + std::to_string(frame->frame_id);
+  image_handler->header.frame_id =
+      "cam" + std::to_string(configure_->get_camera_param().camera_id) + "_" + frame->stream_name;
   image_handler->width = frame->width;
   image_handler->height = frame->height;
   image_handler->encoding = frame->format;

qrb_ros_camera/test/src/camera_test.cpp

@@ -42,7 +42,9 @@ class TestNode : public rclcpp ::Node
   uint64_t g_receive_frame_count[2];   // only add this for test fps
   bool dump_ = false;
   bool dump_camera_info_ = false;
-  bool enable_depth = false;
+  bool enable_depth_ = false;
+  int handler_frame_id_ = 0;
+  int depth_frame_id_ = 0;
 };
 
 // Constructor must be with parameter NodeOptions (component 's requirement)
@@ -51,7 +53,7 @@ TestNode::TestNode(const rclcpp::NodeOptions & options) : TestNode("test_node",
 TestNode::TestNode(const std::string & name, const rclcpp::NodeOptions & options)
   : rclcpp::Node(name, options)
 {
-  enable_depth = this->declare_parameter("subscirbe_depth", false);
+  enable_depth_ = this->declare_parameter("subscirbe_depth", false);
   dump_ = this->declare_parameter("dump", false);
   dump_camera_info_ = this->declare_parameter("dump_camera_info", false);
   rclcpp::SubscriptionOptions sub_options;
@@ -63,7 +65,7 @@ TestNode::TestNode(const std::string & name, const rclcpp::NodeOptions & options
       std::bind(&TestNode::handler_callback, this, std::placeholders::_1), sub_options);
   camera_info_sub_ = this->create_subscription<CAMERA_INFO_TOPIC_TYPE>(CAMERA_INFO_TOPIC_NAME, 10,
       std::bind(&TestNode::camera_info_callback, this, std::placeholders::_1), sub_options);
-  if (enable_depth) {
+  if (enable_depth_) {
     image_sub_ = this->create_subscription<sensor_msgs::msg::Image>("depth_image", 10,
         std::bind(&TestNode::image_callback, this, std::placeholders::_1), sub_options);
   }
@@ -122,25 +124,19 @@ void TestNode::image_callback(const sensor_msgs::msg::Image::ConstSharedPtr & ha
 
   this->get_parameter("dump", dump_);
   std::string name;
-  int frame_id;
+  depth_frame_id_++;
   uint64_t timestamp = handler->header.stamp.sec * 1000000000ULL + handler->header.stamp.nanosec;
 
-  size_t pos = handler->header.frame_id.find('_');
-  if (pos != std::string::npos) {
-    name = handler->header.frame_id.substr(0, pos);
-    frame_id = std::stoi(handler->header.frame_id.substr(pos + 1));
-  }
-
-  show_fps(name, handler->encoding, timestamp, handler->height, handler->width, frame_id, 1);
+  show_fps(name, handler->encoding, timestamp, handler->height, handler->width, depth_frame_id_, 1);
   if (dump_) {
     int size = handler->height * handler->step;
     auto bufData = &handler->data[0];
     char fname[256];
     const char * prefix_name = "test";
     std::string node_name = this->get_name();
     snprintf(fname, sizeof(fname), "%s/%s-%s_wh[%dx%d]_%s-%d-%s.raw", CAMERAROS2_WORKDIR,
-        prefix_name, node_name.c_str(), handler->width, handler->height, name.c_str(), frame_id,
-        handler->encoding.c_str());
+        prefix_name, node_name.c_str(), handler->width, handler->height, name.c_str(),
+        depth_frame_id_, handler->encoding.c_str());
     FILE * fd = fopen(fname, "wb");
     if (fd == NULL) {
       RCLCPP_ERROR(this->get_logger(),
@@ -162,16 +158,10 @@ void TestNode::handler_callback(
 
   this->get_parameter("dump", dump_);
   std::string name;
-  int frame_id;
+  handler_frame_id_++;
   uint64_t timestamp = handler->header.stamp.sec * 1000000000ULL + handler->header.stamp.nanosec;
 
-  size_t pos = handler->header.frame_id.find('_');
-  if (pos != std::string::npos) {
-    name = handler->header.frame_id.substr(0, pos);
-    frame_id = std::stoi(handler->header.frame_id.substr(pos + 1));
-  }
-
-  show_fps(name, handler->encoding, timestamp, handler->height, handler->width, frame_id);
+  show_fps(name, handler->encoding, timestamp, handler->height, handler->width, handler_frame_id_);
   if (dump_) {
     std::shared_ptr<lib_mem_dmabuf::DmaBuffer> buffer = handler->dmabuf;
     buffer->map();
@@ -182,8 +172,8 @@ void TestNode::handler_callback(
     const char * prefix_name = "test";
     std::string node_name = this->get_name();
     snprintf(fname, sizeof(fname), "%s/%s-%s_wh[%dx%d]_%s-%d.%s", CAMERAROS2_WORKDIR, prefix_name,
-        node_name.c_str(), handler->width, handler->height, name.c_str(), frame_id,
-        handler->encoding.c_str());
+        node_name.c_str(), handler->width, handler->height, name.c_str(),
+        handler_frame_id_, handler->encoding.c_str());
     FILE * fd = fopen(fname, "wb");
     if (fd == NULL) {
       RCLCPP_ERROR(this->get_logger(),