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Read the starting Focus from the camera - #2
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deepanaishtaweera merged 2 commits intoOct 7, 2026
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…read The node's Focus can be stale (the lens moves it on its own, e.g. with zoom), so take the pre-command value from the camera. If no read succeeds within the timeout, say so instead of reporting a moving feature.
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🟡 Changes recommended
A failed initial camera read silently falls back to the stale node value and can still cause premature settling.
1 open finding
What changed in this PR
Updates autofocus read-back to use the camera’s current focus as its baseline and improves timeout diagnostics.
Changes:
- Refreshes focus before executing
FocusAuto. - Tracks successful post-command reads.
- Distinguishes total read failure from continued movement.
| File | Description |
|---|---|
camera_aravis2/src/camera_driver.cpp |
Updates autofocus baseline and timeout handling. |
camera_aravis2/include/camera_aravis2/camera_driver.h |
Adds the successful-read counter. |
🧠 Review effort: Balanced
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| { | ||
| RCLCPP_WARN(logger_, "'%s' still changing %llds after the command; stopped reading it back.", | ||
| read_back_param_.c_str(), static_cast<long long>(kTimeout.count())); | ||
| if (read_back_reads_ == 0 || !read_back_last_ok_) |
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This is a follow-up to #1.
Checked on the deck: FocusAuto settled at 9974 2.5 s after the command, and
get_parametersreturned the same value.