[Bug] OBLidarNode compilation fails with USE_NV_HW_DECODER - undefined jpeg_decoder_ symbols #173
Description
Environment
- Platform: Jetson Orin Nano (aarch64)
- OS: Ubuntu 22.04
- ROS2: Humble
- Build: USE_NV_HW_DECODER=ON
Error
ob_lidar_node.cpp:55:3: error: 'jpeg_decoder_' was not declared in this scope ob_lidar_node.cpp:55:57: error: 'width_' was not declared in this scope ob_lidar_node.cpp:55:64: error: 'COLOR' was not declared in this scope ob_lidar_node.cpp:55:72: error: 'height_' was not declared in this scope
Cause
Lines 53-56 in ob_lidar_node.cpp have JPEG decoder code that belongs to OBCameraNode, not OBLidarNode:
#if defined(USE_RK_HW_DECODER)
jpeg_decoder_ = std::make_unique<RKJPEGDecoder>(width_[COLOR], height_[COLOR]);
#elif defined(USE_NV_HW_DECODER)
jpeg_decoder_ = std::make_unique<JetsonNvJPEGDecoder>(width_[COLOR], height_[COLOR]);
#endif
Suggested Fix
Delete these 4 lines from orbbec_camera/src/ob_lidar_node.cpp (lines 53-56).
LiDAR nodes process point cloud data, not JPEG image streams, so they don't need a JPEG decoder.
setupTopics();
-#if defined(USE_RK_HW_DECODER)
- jpeg_decoder_ = std::make_unique<RKJPEGDecoder>(width_[COLOR], height_[COLOR]);
-#elif defined(USE_NV_HW_DECODER)
- jpeg_decoder_ = std::make_unique<JetsonNvJPEGDecoder>(width_[COLOR], height_[COLOR]);
-#endif
is_camera_node_initialized_ = true;