From 479d7aa8de9fb1daa07f790e532efee3697fb8c6 Mon Sep 17 00:00:00 2001
From: ferran <ferranmafe@github.com>
Date: Thu, 7 Sep 2017 13:24:23 +0200
Subject: [PATCH] QR_detector changed current camera frame_id
---
.../msg/humanoid_follow_targetAction.msg | 5 +++++
.../humanoid_follow_targetActionFeedback.msg | 5 +++++
.../msg/humanoid_follow_targetActionGoal.msg | 5 +++++
.../msg/humanoid_follow_targetActionResult.msg | 5 +++++
.../msg/humanoid_follow_targetFeedback.msg | 6 ++++++
.../msg/humanoid_follow_targetGoal.msg | 6 ++++++
.../msg/humanoid_follow_targetResult.msg | 3 +++
.../msg/humanoid_gripperAction.msg | 5 +++++
.../msg/humanoid_gripperActionFeedback.msg | 5 +++++
.../msg/humanoid_gripperActionGoal.msg | 5 +++++
.../msg/humanoid_gripperActionResult.msg | 5 +++++
.../msg/humanoid_gripperFeedback.msg | 5 +++++
.../msg/humanoid_gripperGoal.msg | 3 +++
.../msg/humanoid_gripperResult.msg | 3 +++
.../msg/humanoid_motionAction.msg | 5 +++++
.../msg/humanoid_motionActionFeedback.msg | 5 +++++
.../msg/humanoid_motionActionGoal.msg | 5 +++++
.../msg/humanoid_motionActionResult.msg | 5 +++++
.../msg/humanoid_motionFeedback.msg | 5 +++++
.../msg/humanoid_motionGoal.msg | 3 +++
.../msg/humanoid_motionResult.msg | 3 +++
.../msg/humanoid_stairsAction.msg | 5 +++++
.../msg/humanoid_stairsActionFeedback.msg | 5 +++++
.../msg/humanoid_stairsActionGoal.msg | 5 +++++
.../msg/humanoid_stairsActionResult.msg | 5 +++++
.../msg/humanoid_stairsFeedback.msg | 4 ++++
.../msg/humanoid_stairsGoal.msg | 3 +++
.../msg/humanoid_stairsResult.msg | 3 +++
qr_detector/include/.qr_detector_driver.h.swp | Bin 0 -> 16384 bytes
qr_detector/src/qr_detector_driver_node.cpp | 6 +++---
30 files changed, 130 insertions(+), 3 deletions(-)
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetAction.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_follow_targetResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperAction.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperActionResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_gripperResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionAction.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionActionGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionActionResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_motionResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsAction.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsActionResult.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsFeedback.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsGoal.msg
create mode 100644 humanoid_common_msgs/msg/humanoid_stairsResult.msg
create mode 100644 qr_detector/include/.qr_detector_driver.h.swp
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg b/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg
new file mode 100644
index 0000000..414a053
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetAction.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+humanoid_follow_targetActionGoal action_goal
+humanoid_follow_targetActionResult action_result
+humanoid_follow_targetActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg
new file mode 100644
index 0000000..1fd67e2
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetActionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_follow_targetFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg
new file mode 100644
index 0000000..c4fe78c
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetActionGoal.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+humanoid_follow_targetGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg b/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg
new file mode 100644
index 0000000..5ae6aee
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetActionResult.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_follow_targetResult result
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg b/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg
new file mode 100644
index 0000000..ffc82fb
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetFeedback.msg
@@ -0,0 +1,6 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#feedback
+float32 current_pan
+float32 current_tilt
+
+
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg b/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg
new file mode 100644
index 0000000..9159452
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetGoal.msg
@@ -0,0 +1,6 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#goal definition
+float32 target_pan
+float32 target_tilt
+float32[] pan_range
+float32[] tilt_range
diff --git a/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg b/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg
new file mode 100644
index 0000000..979b112
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_follow_targetResult.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#result definition
+bool successful
diff --git a/humanoid_common_msgs/msg/humanoid_gripperAction.msg b/humanoid_common_msgs/msg/humanoid_gripperAction.msg
new file mode 100644
index 0000000..227fc76
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperAction.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+humanoid_gripperActionGoal action_goal
+humanoid_gripperActionResult action_result
+humanoid_gripperActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg
new file mode 100644
index 0000000..7d85806
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperActionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_gripperFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg b/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg
new file mode 100644
index 0000000..d80f3b0
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperActionGoal.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+humanoid_gripperGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg b/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg
new file mode 100644
index 0000000..5f78645
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperActionResult.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_gripperResult result
diff --git a/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg b/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg
new file mode 100644
index 0000000..adfab76
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#feedback
+float32 current_angle_top
+float32 current_angle_bot
+
diff --git a/humanoid_common_msgs/msg/humanoid_gripperGoal.msg b/humanoid_common_msgs/msg/humanoid_gripperGoal.msg
new file mode 100644
index 0000000..5959135
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperGoal.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#goal definition
+bool open
diff --git a/humanoid_common_msgs/msg/humanoid_gripperResult.msg b/humanoid_common_msgs/msg/humanoid_gripperResult.msg
new file mode 100644
index 0000000..979b112
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_gripperResult.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#result definition
+bool successful
diff --git a/humanoid_common_msgs/msg/humanoid_motionAction.msg b/humanoid_common_msgs/msg/humanoid_motionAction.msg
new file mode 100644
index 0000000..dc70ec5
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionAction.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+humanoid_motionActionGoal action_goal
+humanoid_motionActionResult action_result
+humanoid_motionActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg
new file mode 100644
index 0000000..ff4d786
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionActionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_motionFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg b/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg
new file mode 100644
index 0000000..d0e38d3
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionActionGoal.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+humanoid_motionGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_motionActionResult.msg b/humanoid_common_msgs/msg/humanoid_motionActionResult.msg
new file mode 100644
index 0000000..58b2f12
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionActionResult.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_motionResult result
diff --git a/humanoid_common_msgs/msg/humanoid_motionFeedback.msg b/humanoid_common_msgs/msg/humanoid_motionFeedback.msg
new file mode 100644
index 0000000..a729a54
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#feedback
+int32 current_page
+int32 current_step
+
diff --git a/humanoid_common_msgs/msg/humanoid_motionGoal.msg b/humanoid_common_msgs/msg/humanoid_motionGoal.msg
new file mode 100644
index 0000000..a9d8514
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionGoal.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#goal definition
+int32 motion_id
diff --git a/humanoid_common_msgs/msg/humanoid_motionResult.msg b/humanoid_common_msgs/msg/humanoid_motionResult.msg
new file mode 100644
index 0000000..979b112
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_motionResult.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#result definition
+bool successful
diff --git a/humanoid_common_msgs/msg/humanoid_stairsAction.msg b/humanoid_common_msgs/msg/humanoid_stairsAction.msg
new file mode 100644
index 0000000..e73bdd4
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsAction.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+humanoid_stairsActionGoal action_goal
+humanoid_stairsActionResult action_result
+humanoid_stairsActionFeedback action_feedback
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg b/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg
new file mode 100644
index 0000000..e2b6428
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsActionFeedback.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_stairsFeedback feedback
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg b/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg
new file mode 100644
index 0000000..4870591
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsActionGoal.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+humanoid_stairsGoal goal
diff --git a/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg b/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg
new file mode 100644
index 0000000..046a7d3
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsActionResult.msg
@@ -0,0 +1,5 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+humanoid_stairsResult result
diff --git a/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg b/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg
new file mode 100644
index 0000000..86ec233
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsFeedback.msg
@@ -0,0 +1,4 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#feedback
+int32 current_phase
+
diff --git a/humanoid_common_msgs/msg/humanoid_stairsGoal.msg b/humanoid_common_msgs/msg/humanoid_stairsGoal.msg
new file mode 100644
index 0000000..9d2eb25
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsGoal.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#goal definition
+bool up
diff --git a/humanoid_common_msgs/msg/humanoid_stairsResult.msg b/humanoid_common_msgs/msg/humanoid_stairsResult.msg
new file mode 100644
index 0000000..979b112
--- /dev/null
+++ b/humanoid_common_msgs/msg/humanoid_stairsResult.msg
@@ -0,0 +1,3 @@
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+#result definition
+bool successful
diff --git a/qr_detector/include/.qr_detector_driver.h.swp b/qr_detector/include/.qr_detector_driver.h.swp
new file mode 100644
index 0000000000000000000000000000000000000000..b1aa67cdfa285d2450455b304169e07f8a6958a1
GIT binary patch
literal 16384
zcmeHOTc{*Q8E&IVj7dz0282MU?3%rt%+Bm?)W~Fa;be9<JFvUwWX{=*3n61ocg=LU
zJzbsZ>T`AyT@@u7l84|W1cDFI_z(~xk_+A*1VscPf*6bhq98t~_@aXN5d8kC>Y1K7
zdlHN<LHe-Y%sJiFfBp6Sm#X@^cCi0!_Y}LM`H=uW*9XCC{coH*8eSj#Di4C8(3+=o
z<IR6uyM3p4c$ZS=SGC%v`9;^TCAHj_@Bw}IH}h7m!&Y33d8%a857l_A($)jI9|<Eu
zqjXEAVNyh*daWO6xgm5j-lnJea?L=^z*YvX4Q@YpU_V{ox#Jf0fg8?jZBk#U8K@bk
z8K@bk8K@bk8K@bk8K@cfzh%H=mj$22=q~dk<o^3z3*Ybdf1mK*gN6J4&-$xopk|<E
zpk|<Epk|<Epk|<Epk|<Epk|<Epl0A5$N-Pr-v67l;m7;`a{vFG>w@5E;1S?qU;x|%
z{PO)l@Fjo)_X9TpuU;DjPXZjcAGiVd#Wg|jGvGmBH}LA!LGW#011NyAz#YKHfUAJl
z-xmZg0gnR@0VALX+ym?et^uwFt^{7c3g;AnM}dz6e|~QeJOw-qd;vHJ{OQUdcm{YH
zSOqQvUbrF%HUR@<zyY8Id>DA+@*wyF@O$7D;AP-B;91}kz^%Z|z+c}J1b+ek2>cxQ
z37~-ez+T`+;Df-mz&}tl`5W*pphpE1;B^#Qehd5v_#yB-@D%WMpbK0MyZ~ERdsu&A
z_*r7&fr2MFGrADXz+LKUc^A*cQF|1k-Hy~sCel578;qwcH{1xc=4mdCR4J1=%Y+^(
zJr)s@L#Bl(bjmh(QV1{4@bdx<Q==FULsg`v$<|{$I4shz6v7Lm#@xt|C&`4-C*%z#
ztkfxGrus+&e+uSKYp`*V8#WM3LC;h~O-2f*G957-G*LP)8#q~B;(Y@x#n3+E<<O1R
z(o$d>+@p{Bb0Ut1JsUVhviDB+aLawMF`rPsAW$)db0dl35sQVMQn_r5mV?3w3|6bL
zReH>2%2E|g)ejS%=WLF3mKR~nc+L`~vc3lA4d10qrQwNukcPP)t6Z>*Yd(gq7-t9z
zmHOnufOFd;@#06ZcS`!y+Md}^r8&HSPR3M4YLTG#h{1Toc%F$+4rN$U?|O8)c?~_W
z6?t@HN^D1^Lpfr&jj#R!q1~JnS!6pD;B#W+SWGo8pK&er>?PlGj#7@rdesKkk`EHW
zV(<q)s(MO=t4ItboTcO_9F{t<p-f5xZW$7(UUo1yEHlXjM6${Oqjr1dM1IunYhlov
z(kYp;0_L<V!=Te{7>Q=?$#S4at@4cf%dW|$G_iervD+qFMh`w%<Ty*jSfmJK#Bc6K
zI6qEDji=knE{DokRtypuwq1~PT#P)RLvrV(@?@18U#rD3q!7v%d=>^gjTpQ&RuOgW
z8?=Lm0v81{)t$q#w(pVAp{@bal0Tx=ZqEfwz?Kk{OZZnxXNf$I;83|a4do~!oWLP6
zcnxWwh4a5c3%cv>fZQcEPY+W=%V-CkQA6gmv=+m`GCm@EEd-&7wJJt22}95z9K)EW
zBY0XgN%`0(IAk_5bZ=!1mwAfIRh<~mGO%ndL}4zF2AAyjj34h1<hQ915mLDA49-iL
zv&fithXw8O0{H{c0f8iQR3Lk#M!-fXWoMD+l41wh8d;r(h(6>4iX!JeyOHjv`Nk5K
z^C6NCayDg|1_(lj4W<i-1JSurnH{P3K5lRsV@F&!Sr>m$>a_WL>j=FEILd9Csd21E
zi@8W+E|c2&HnHJH2&U&e#VT!ixAPk`q@)K&XgX`ytJc%DOm;{onzFqXJenZ+ll>#o
zTkw2>1dpiQRQfzwg7_Oz-kxSJUQ(FPe9Wbv&TY4q#v-%8CNdHUl9RP*Wy~OMVa(1s
z=Emn;R1I+`5(=l@btqTbc}Av~prolxNZnqS(S+|C%t>po%~)b8%Cy>mR?sLeUB~Bn
zdYb55D`y68whr|c*tEYBbl9VoY==t`E@3p|9YL!+g;`CUKE%N=Ca^>fG}jZHEGvZ^
z%1tCLgd#IXDi<kB%5<oz*IX;4x#~so({STpE0&`eRF~h)ILj{8OpZqweAx2ewi&DR
zTS@q>EzucQCCd2>W{;^>GFlUjgPlJ2_A6pN9sRhEZigw>Yn+oh&vcYqwgP@;v%$
z7FpO7IY<U$%`DDZJvC5RW##>od_c{$fS-`ZQaU1A(u0U`WHyTYv4Y1Ft(q2RDs9s<
zJ}Ks*mYK<2+#t>&wOoN9AdnGwWS4M7PD?SDC#TP>CTJr_8quOv-e0)IBE?RxtTTiH
z@{7$HbcPobmko<q;v&UErIFGNLIy6^V%<}#E4}sQ)9WPRSlg{O?HomGf`PztbR<$i
z@rjj<%h#Apod&a&8i^wCL}36vpCXXp4~Xq?ld<j)D>>6(ITGlhlKIWe<|r+iN{?Dd
z;v&sqfFn&3bWRm4k5!RimB=>)rF?<&#u54sRfZJmW}CZDpJ6946d2}it7gJh?X=5I
zI(d*q;@+~|%!G(LE|c79aq3vFa{}Zn-_<?YT|dWQ=HuP<)5q4<*zuJfTV|`vz4dPA
z%*o{*TRqcTU0FMZp{`+w6#VEH3tDz>cm2f5nRT{&`W(A=xz~fdb9Y*f6z*d2=9Zq6
zy(9*>$?3?qp&^n4yHN8q(lRcRNW*raJYA5*h*NZk2}2sl#SDb06bqzbku?1Hac`mu
zjhTmBlV<h_qt&WrSUcvpWQR-saa=?DH8nKQ1Ak!;f<-18G?>7mY4!lSy|jU6x&d}b
zVd#KoC{iE|J&g0R;aeL4E@xLwc?=>36DtlU)#3B|vhyPv{*ctmy?SjLlno>;X1tIF
zm{40bCL=ktV%#nY%T>D#<Jyo?h^JDv=ZRK-8rcq!qXoPQ9%q?ZE)bO3x_AffXPdA+
zoxSYf{sa5>;o|`7VpAXuEQ+;{PaT{|T=p3u<oG?p{tIjFq`^9C-Oj!<tDR;*`~PFu
z|9&3(W7_|puzSuR_&4_YuK~XSegJ$Q_#W^i@D<=V@OSL}p8>uITm(J|oC6L6hk%a)
zR3Eqz_$g`vp9XFN-atLzU%>BxUjr`zF9Od2PXLbthk<{hE<iPd3xEdJfm6Ui-~g}$
zTnAA7;K!&7q`+BV75ETv1Mmv!11|$#1HKA$fL*|?z|FuFKmfdmn!$I0XMx9nM}bw~
z7T|es^BC|5@MVCw`W#UI)C|-N)C|-N)C|0B26l=R%Y-2KjH||A&(v<yG>w()NSJ<z
z&8p^oyJ@Y~HmS^s3RoK5)7uknwA-h+*~La$Ot8o$5gYdZ&e0aE6nBK}GJMpRQQoMw
zm}?#>tY5_uc4QY-WJK-@skSo|Drq~Dqo%pXwWGb@g~sgnNwql@K+AT+3k_@&NHiNl
zLH}zwyBgA?wzze1wl{Md)aszAc7z{PMCjA4PO;f7%b~P)MhS$Lv9Vv*s==o~1TDMx
zfEK*2_+p<?6IxzbN$!*Ro$}GCM7lmLh+=g~i%MT0nN?Tp!?;QHWGug^T4~E3TX%+)
zYK<?gkv^!zqr#0{hONU0<9M)?yW&^h7gAj%X&1^!n|+j%8mvI|;`W1m!xB869NxcJ
z_P)<5>F)YZY}8$$fQI7a5;?B)pCu?HIWF8M^AdcIcKrCg<e;q0*(JKG!puGG6rNQT
zJ=<l$vaHYA;)vUZknl@Lo$f18rov(yJX%$}l3iaJpT4HJq?yW>3)8~&v<xfLtT1zm
z&r0J|M|Lz(gQ+hJlu9sQm2K~%>^}dB#kDPL%?_KQxsJAdC3C6wJ=?u{=`OwpT7zP5
z@*W74Cj2Z}e=A=bl(xvreJ?g~*!Mv{)CUmxMMhSlEl}lMke9POq^+E(-mSj&K`9bj
zca-9s6>X)F>RRH02n*WWx#F0MD<{$m_GYk8%x*6l0o$o}s1=~uJI4&x+{Am;7_c(l
z6l#=L-r5MXZQafawwnAuTA}(z@>1?Ud)K(d;X72!eiN$a!pu9D8;Z+XE;ra3HyHWv
s--CLQi;1Wj1=I9nsRG?+{p&B<>nE<jWs7^4iU9k}w&YWx^lfwhALmLVX#fBK
literal 0
HcmV?d00001
diff --git a/qr_detector/src/qr_detector_driver_node.cpp b/qr_detector/src/qr_detector_driver_node.cpp
index 235e4e5..abfcb7f 100644
--- a/qr_detector/src/qr_detector_driver_node.cpp
+++ b/qr_detector/src/qr_detector_driver_node.cpp
@@ -71,13 +71,13 @@ void QrDetectorDriverNode::image_callback(const sensor_msgs::Image::ConstPtr& ms
this->driver_.findQR(this->gray,tag_ids,poses);
this->camera_pose_tag_pose_array_msg_.header.stamp = ros::Time::now();
- this->camera_pose_tag_pose_array_msg_.header.frame_id = msg->header.frame_id;
+ this->camera_pose_tag_pose_array_msg_.header.frame_id = this->driver_.get_camera_frame();
this->camera_pose_tag_pose_array_msg_.tags.resize(tag_ids.size());
for(unsigned int i=0;i<tag_ids.size();i++)
{
this->camera_pose_tag_pose_array_msg_.tags[i].tag_id = tag_ids[i];
this->camera_pose_tag_pose_array_msg_.tags[i].header.stamp = ros::Time::now();
- this->camera_pose_tag_pose_array_msg_.tags[i].header.frame_id = msg->header.frame_id;
+ this->camera_pose_tag_pose_array_msg_.tags[i].header.frame_id = this->driver_.get_camera_frame();
this->camera_pose_tag_pose_array_msg_.tags[i].position.x = poses[i][0];
this->camera_pose_tag_pose_array_msg_.tags[i].position.y = poses[i][1];
this->camera_pose_tag_pose_array_msg_.tags[i].position.z = poses[i][2];
@@ -87,7 +87,7 @@ void QrDetectorDriverNode::image_callback(const sensor_msgs::Image::ConstPtr& ms
this->camera_pose_tag_pose_array_msg_.tags[i].orientation.z = poses[i][6];
transform.setOrigin(tf::Vector3(poses[i][0],poses[i][1],poses[i][2]));
transform.setRotation(tf::Quaternion(poses[i][4],poses[i][5],poses[i][6],poses[i][3]));
- this->tag_pose_br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),msg->header.frame_id,tag_ids[i]+"_det"));
+ this->tag_pose_br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),this->driver_.get_camera_frame(),tag_ids[i]+"_det"));
}
this->camera_pose_publisher_.publish(this->camera_pose_tag_pose_array_msg_);
}
--
GitLab