add filter & fix file cmake

CMakeLists.txt

@@ -42,7 +42,7 @@ if(NOT BUILDING_WITH_CATKIN)
 
   # ⚠️ placeholder libraries
   set(PACKAGES_DIR
-    cv_bridge
+    
     robot_sensor_msgs
     robot_cpp
     data_convert
@@ -64,7 +64,7 @@ if(NOT BUILDING_WITH_CATKIN)
 else()
 
   find_package(catkin REQUIRED COMPONENTS
-    cv_bridge
+    
     robot_sensor_msgs
     robot_cpp
     data_convert
@@ -88,7 +88,7 @@ else()
     INCLUDE_DIRS include
     LIBRARIES ${PROJECT_NAME}
     CATKIN_DEPENDS
-      cv_bridge
+      
       robot_sensor_msgs
       robot_cpp
       data_convert

package.xml

@@ -25,7 +25,6 @@
       
       
     <build_depend>boost</build_depend>
-    <build_depend>cv_bridge</build_depend>
     <build_depend>robot_image_geometry</build_depend>
     <build_depend>eigen</build_depend>
     <build_depend>robot_sensor_msgs</build_depend>
@@ -38,7 +37,6 @@
     <build_depend>tf2_ros</build_depend>
 
     <run_depend>boost</run_depend>
-    <run_depend>cv_bridge</run_depend>
     <run_depend>robot_image_geometry</run_depend>
     <run_depend>eigen</run_depend>
     <run_depend>robot_sensor_msgs</run_depend>

src/depth_image_proc_node.cpp

@@ -178,15 +178,15 @@ private:
     const double processed_hz = static_cast<double>(processed_frames_) / window_seconds;
     const double average_ms =
         processed_frames_ > 0 ? processing_time_ms_ / static_cast<double>(processed_frames_) : 0.0;
-    ROS_INFO(
-        "[%s] depth performance: input=%.1f Hz processed=%.1f Hz "
-        "skipped=%llu avg=%.2f ms max=%.2f ms",
-        config_.name.c_str(),
-        input_hz,
-        processed_hz,
-        static_cast<unsigned long long>(skipped_frames_),
-        average_ms,
-        max_processing_time_ms_);
+    // ROS_INFO(
+    //     "[%s] depth performance: input=%.1f Hz processed=%.1f Hz "
+    //     "skipped=%llu avg=%.2f ms max=%.2f ms",
+    //     config_.name.c_str(),
+    //     input_hz,
+    //     processed_hz,
+    //     static_cast<unsigned long long>(skipped_frames_),
+    //     average_ms,
+    //     max_processing_time_ms_);
 
     metrics_window_start_ = now;
     received_frames_ = 0;