尝试修复相机报错

src/rm_bringup/config/node_params/camera_driver_params.yaml

@@ -9,3 +9,4 @@
     offsetY: 0
     camera_name: "hik"
     recording: false    #是否录制
+    open_delay_ms: 2000  # Camera open delay after previous instance closed (ms)

src/rm_hardware_driver/ros2_hik_camera/src/hik_camera_node.cpp

@@ -98,8 +98,10 @@ public:
     }
 
     // Watch dog timer (also handles initial open)
+    // Add initial delay to allow previous camera instance to fully release resources
+    int open_delay_ms = this->declare_parameter("open_delay_ms", 1000);
     timer_ = this->create_wall_timer(
-      std::chrono::milliseconds(1000), std::bind(&HikCameraNode::timerCallback, this));
+      std::chrono::milliseconds(open_delay_ms), std::bind(&HikCameraNode::timerCallback, this));
 
     // Start capture thread
     capture_thread_ = std::thread([this]() { this->captureLoop(); });
@@ -208,20 +210,29 @@ private:
 
   void timerCallback()
   {
-    // Open camera
-    while (!is_open_ && rclcpp::ok()) {
+    // Open camera with retry delay
+    if (!is_open_) {
+      static int retry_count = 0;
       if (!open()) {
-        FYT_ERROR("camera_driver", "open() failed");
+        retry_count++;
+        if (retry_count >= 3) {
+          FYT_ERROR("camera_driver", "open() failed {} times, will keep retrying", retry_count);
+        }
         close();
+        std::this_thread::sleep_for(std::chrono::milliseconds(500));
         return;
       }
+      retry_count = 0;
+      is_open_ = true;
     }
 
     // Watchdog: no frames for too long => reconnect
     double dt = (this->now() - latest_frame_stamp_).seconds();
     if (dt > 5.0) {
-      FYT_WARN("camera_driver", "Camera is not alive! lost frame for {:.2f} seconds", dt);
+      FYT_WARN("camera_driver", "Camera is not alive! lost frame for {:.2f} seconds, reconnecting...", dt);
       close();
+      is_open_ = false;
+      std::this_thread::sleep_for(std::chrono::milliseconds(500));
     }
   }