virtual void endConfigure()
{
if(was_running_)
{
Status rc = stream_.start();
if(rc != STATUS_OK)
{
SensorType type = stream_.getSensorInfo().getSensorType();
ROS_WARN_STREAM("Failed to restart stream '" << name_ << "' after configuration!");
int max_trials = 1;
for(int trials = 0; trials < max_trials && rc != STATUS_OK; ++trials)
{
ros::Duration(0.1).sleep();
stream_.removeNewFrameListener(this);
stream_.destroy();
stream_.create(device_, type);
stream_.addNewFrameListener(this);
//stream_.setVideoMode(default_mode_);
rc = stream_.start();
ROS_WARN_STREAM_COND(rc != STATUS_OK, "Recovery trial " << trials << " failed!");
}
ROS_ERROR_STREAM_COND(rc != STATUS_OK, "Failed to recover stream '" << name_ << "'! Restart required!");
ROS_INFO_STREAM_COND(rc == STATUS_OK, "Recovered stream '" << name_ << "'.");
}
if(rc == STATUS_OK)
{
running_ = true;
}
}
}
