From 9e7ffd3105c31847a215ee991fadeafe9530daff Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 20 May 2021 11:13:39 +0200
Subject: [PATCH] Parameter base_frame_id moved from yaml to launch, to be able
to use ns argument
---
config/default_config.yaml | 2 +-
launch/node.launch | 2 ++
launch/nodelet.launch | 2 ++
3 files changed, 5 insertions(+), 1 deletion(-)
diff --git a/config/default_config.yaml b/config/default_config.yaml
index f08a43d..bf059a1 100755
--- a/config/default_config.yaml
+++ b/config/default_config.yaml
@@ -1,5 +1,5 @@
# sensor information
-base_frame_id: "ana/base_footprint"
+#base_frame_id: "ana/base_footprint"
min_range: 0.1
max_range: 50.0
sensor_height: 0.3
diff --git a/launch/node.launch b/launch/node.launch
index b65000d..52a0653 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,6 +7,7 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<group ns="$(arg ns)">
@@ -17,6 +18,7 @@
launch-prefix="$(arg launch_prefix)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
<rosparam file="$(arg config_file)" command="load"/>
+ <param name="base_frame_id" value="$(arg base_frame_id)"/>
</node>
</group>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 9926783..dbdc16d 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -8,6 +8,7 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="base_frame_id" default="$(arg ns)/base_footprint"/>
<group ns="$(arg ns)">
@@ -18,6 +19,7 @@
output="$(arg output)">
<remap from="~pointcloud_in" to="$(arg cloud_in)"/>
<rosparam file="$(arg config_file)" command="load"/>
+ <param name="base_frame_id" value="$(arg base_frame_id)"/>
</node>
</group>
--
GitLab