From 43d0c2e960d0eece86b96cdd2eaf78b55fd37e8d Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 3 Mar 2022 13:53:48 +0100
Subject: [PATCH] Added the output topic remapping to the input arguments.
---
launch/node.launch | 6 ++++++
launch/nodelet.launch | 6 ++++++
2 files changed, 12 insertions(+)
diff --git a/launch/node.launch b/launch/node.launch
index 85165f9..b4dbb4f 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -8,6 +8,9 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="debug_image" default="~debug_image"/>
+ <arg name="obstacles_cloud_out" default="~obstacles_cloud_out"/>
+ <arg name="free_space_cloud_out" default="~free_space_cloud_out"/>
<group ns="$(arg ns)">
@@ -17,6 +20,9 @@
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
+ <remap from="~obstacles_img/image_raw" to="$(arg debug_image)"/>
+ <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+ <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
<rosparam file="$(arg config_file)" command="load"/>
<rosparam file="$(arg ranges_file)" command="load"/>
</node>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 260193e..98d7dfa 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -9,6 +9,9 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="debug_image" default="~debug_image"/>
+ <arg name="obstacles_cloud_out" default="~obstacles_cloud_out"/>
+ <arg name="free_space_cloud_out" default="~free_space_cloud_out"/>
<group ns="$(arg ns)">
@@ -18,6 +21,9 @@
args="load iri_lidar_obstacle_detector/LidarObstacleDetectorAlgNodelet $(arg lidar_nodelet_manager)"
output="$(arg output)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
+ <remap from="~obstacles_img/image_raw" to="$(arg debug_image)"/>
+ <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+ <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
<rosparam file="$(arg config_file)" command="load"/>
<rosparam file="$(arg ranges_file)" command="load"/>
</node>
--
GitLab