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Publish /aligned_depth_to_color topic only when color frame present #2793

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merged 1 commit into from
Jun 27, 2023
Merged

Publish /aligned_depth_to_color topic only when color frame present #2793

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4 changes: 3 additions & 1 deletion realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -499,6 +499,8 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
clip_depth(original_depth_frame, _clipping_distance);
}

rs2::video_frame original_color_frame = frameset.get_color_frame();

ROS_DEBUG("num_filters: %d", static_cast<int>(_filters.size()));
for (auto filter_it : _filters)
{
Expand Down Expand Up @@ -529,7 +531,7 @@ void BaseRealSenseNode::frame_callback(rs2::frame frame)
{
if (sent_depth_frame) continue;
sent_depth_frame = true;
if (_align_depth_filter->is_enabled())
if (original_color_frame && _align_depth_filter->is_enabled())
{
publishFrame(f, t, COLOR,
_depth_aligned_image,
Expand Down