check rgb buffer avoid crash

Author: jian-dong

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -421,5 +421,6 @@ class OBCameraNode {
   std::shared_ptr<JPEGDecoder> jpeg_decoder_ = nullptr;
   uint8_t* rgb_buffer_ = nullptr;
   bool is_color_frame_decoded_ = false;
+  std::mutex device_lock_;
 };
 }  // namespace orbbec_camera

orbbec_camera/src/ob_camera_node.cpp

@@ -85,6 +85,7 @@ void OBCameraNode::setAndGetNodeParameter(
 OBCameraNode::~OBCameraNode() { clean(); }
 
 void OBCameraNode::clean() {
+  std::lock_guard<decltype(device_lock_)> lock(device_lock_);
   RCLCPP_WARN_STREAM(logger_, "Do destroy ~OBCameraNode");
   is_running_.store(false);
   if (tf_thread_ && tf_thread_->joinable()) {
@@ -750,6 +751,10 @@ void OBCameraNode::publishColoredPointCloud(const std::shared_ptr<ob::FrameSet>
 }
 
 void OBCameraNode::onNewFrameSetCallback(const std::shared_ptr<ob::FrameSet> &frame_set) {
+  if (!is_running_.load()) {
+    return;
+  }
+  std::lock_guard<decltype(device_lock_)> lock(device_lock_);
   if (frame_set == nullptr) {
     return;
   }
@@ -805,6 +810,9 @@ bool OBCameraNode::decodeColorFrameToBuffer(const std::shared_ptr<ob::Frame> &fr
   if (frame == nullptr) {
     return false;
   }
+  if (!rgb_buffer_) {
+    return false;
+  }
   bool has_subscriber = image_publishers_[COLOR].getNumSubscribers() > 0;
   if (enable_colored_point_cloud_ && depth_registration_cloud_pub_->get_subscription_count() > 0) {
     has_subscriber = true;