Merge pull request #452 from doronhi/development

build with librealsense 2.16
IntelRealSense · Aug 29, 2018 · c6329bf · c6329bf
2 parents ef2ee35 + 985f3b7
commit c6329bf
Showing 1 changed file with 10 additions and 1 deletion.
diff --git a/realsense2_camera/include/base_realsense_node.h b/realsense2_camera/include/base_realsense_node.h
@@ -51,6 +51,15 @@ namespace realsense2_camera
     };
     typedef std::pair<image_transport::Publisher, std::shared_ptr<FrequencyDiagnostics>> ImagePublisherWithFrequencyDiagnostics;
 
+	class PipelineSyncer : public rs2::asynchronous_syncer
+	{
+	public: 
+		void operator()(rs2::frame f) const
+		{
+			invoke(std::move(f));
+		}
+	};
+
     class BaseRealSenseNode : public InterfaceRealSenseNode
     {
     public:
@@ -160,7 +169,7 @@ namespace realsense2_camera
         bool _align_depth;
         bool _sync_frames;
         bool _pointcloud;
-        rs2::asynchronous_syncer _syncer;
+		PipelineSyncer _syncer;
 
         std::map<stream_index_pair, cv::Mat> _depth_aligned_image;
         std::map<stream_index_pair, std::string> _depth_aligned_encoding;