Merge pull request #311 from firesurfer/ros2

Resolve Symlinks

Author: flynneva

src/ros2/usb_cam_node.cpp

@@ -30,7 +30,7 @@
 #include <sstream>
 #include <string>
 #include <vector>
-
+#include <filesystem>
 #include "usb_cam/usb_cam_node.hpp"
 #include "usb_cam/utils.hpp"
 
@@ -121,6 +121,15 @@ void UsbCamNode::service_capture(
   }
 }
 
+std::string resolve_device_path(const std::string & path)
+{
+  if (std::filesystem::is_symlink(path)) {
+    // For some reason read_symlink only returns videox
+    return "/dev/" + std::string(std::filesystem::read_symlink(path));
+  }
+  return path;
+}
+
 void UsbCamNode::init()
 {
   while (m_parameters.frame_id == "") {
@@ -246,7 +255,7 @@ void UsbCamNode::assign_params(const std::vector<rclcpp::Parameter> & parameters
     } else if (parameter.get_name() == "av_device_format") {
       m_parameters.av_device_format = parameter.value_to_string();
     } else if (parameter.get_name() == "video_device") {
-      m_parameters.device_name = parameter.value_to_string();
+      m_parameters.device_name = resolve_device_path(parameter.value_to_string());
     } else if (parameter.get_name() == "brightness") {
       m_parameters.brightness = parameter.as_int();
     } else if (parameter.get_name() == "contrast") {