multiple cameras - device_num logic unnecessary

[bmegli]

Currently when using multiple sensors user has to pass number of sensors to driver

• this is the only place in code I can see device_num used

This is unnecessary and difficult for user (what if sensors are added dynamically to the system by user?)

It should be enough to:

• check if serial and USB descriptor are both empty (not defined)
  • connect to default sensor in that case
• connect by serial otherwise
• connect by USB descriptor otherwise

Link to relevant code fragment:

OrbbecSDK_ROS1/src/ob_camera_node_driver.cpp

Lines 92 to 114 in c587b26

	std::shared_ptr<ob::Device> OBCameraNodeDriver::selectDevice(
	const std::shared_ptr<ob::DeviceList> &list) {
	if (device_num_ == 1) {
	ROS_INFO_STREAM("Connecting to the default device");
	return list->getDevice(0);
	}
	std::shared_ptr<ob::Device> device = nullptr;
	if (!serial_number_.empty()) {
	ROS_INFO_STREAM("Connecting to device with serial number: " << serial_number_);
	device = selectDeviceBySerialNumber(list, serial_number_);
	} else if (!usb_port_.empty()) {
	ROS_INFO_STREAM("Connecting to device with usb port: " << usb_port_);
	device = selectDeviceByUSBPort(list, usb_port_);
	}
	if (device == nullptr) {
	ROS_WARN_THROTTLE(1.0, "Device with serial number %s not found", serial_number_.c_str());
	device_connected_ = false;
	return nullptr;
	}
	return device;
	}

[bmegli]

Example implementation in:

• Extend-Robotics@07daf95