fixed stop cause crash

Author: jian-dong

orbbec_camera/include/orbbec_camera/ob_camera_node.h

@@ -137,6 +137,9 @@ class OBCameraNode {
   void clean();
 
   void startStreams();
+  
+  void startIMU();
+
 
  private:
   struct IMUData {
@@ -161,8 +164,6 @@ class OBCameraNode {
 
   void setupCameraCtrlServices();
 
-  void startIMU();
-
   void stopStreams();
 
   void stopIMU();

orbbec_camera/src/ob_camera_node.cpp

@@ -92,6 +92,7 @@ void OBCameraNode::clean() {
   }
   RCLCPP_WARN_STREAM(logger_, "stop streams");
   stopStreams();
+  stopIMU();
   RCLCPP_WARN_STREAM(logger_, "Destroy ~OBCameraNode DONE");
   if (rgb_buffer_) {
     delete[] rgb_buffer_;
@@ -259,7 +260,6 @@ void OBCameraNode::startStreams() {
     pipeline_->enableFrameSync();
   }
   pipeline_started_.store(true);
-  startIMU();
 }
 
 void OBCameraNode::startIMU() {
@@ -316,7 +316,6 @@ void OBCameraNode::stopStreams() {
   }
   try {
     pipeline_->stop();
-    stopIMU();
   } catch (const ob::Error &e) {
     RCLCPP_ERROR_STREAM(logger_, "Failed to stop pipeline: " << e.getMessage());
   }

orbbec_camera/src/ob_camera_node_driver.cpp

@@ -310,6 +310,7 @@ void OBCameraNodeDriver::initializeDevice(const std::shared_ptr<ob::Device> &dev
   }
   ob_camera_node_ = std::make_unique<OBCameraNode>(this, device_, parameters_);
   ob_camera_node_->startStreams();
+  ob_camera_node_->startIMU();
   device_connected_ = true;
   device_info_ = device_->getDeviceInfo();
   CHECK_NOTNULL(device_info_.get());