From 0ae9013f38cbbc1bef3307b4fd3f6f2f4f1bc9c1 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 10 Feb 2020 16:29:26 +0100
Subject: [PATCH] Solved some bugs in the nodelet definition.

---
 obstacle_detection_normals_nodelet_plugin.xml | 2 +-
 package.xml                                   | 1 +
 src/obstacle_detection_normals_alg_node.cpp   | 2 +-
 3 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/obstacle_detection_normals_nodelet_plugin.xml b/obstacle_detection_normals_nodelet_plugin.xml
index 63c9edf..5cdacd0 100755
--- a/obstacle_detection_normals_nodelet_plugin.xml
+++ b/obstacle_detection_normals_nodelet_plugin.xml
@@ -1,4 +1,4 @@
-<library path="lib/libiri_nav_obstacle_detection_normals_nodelete">
+<library path="lib/libiri_nav_obstacle_detection_normals_nodelet">
   <class name="iri_nav_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet" type="ObstacleDetectionNormalsAlgNodelet" base_class_type="nodelet::Nodelet">
     <description>
       Nodelete for the IRI navigation Velodyne angle filter 
diff --git a/package.xml b/package.xml
index 912e685..cc848ff 100644
--- a/package.xml
+++ b/package.xml
@@ -50,6 +50,7 @@
 
   <!-- The export tag contains other, unspecified, tags -->
   <export>
+    <nodelet plugin="${prefix}/obstacle_detection_normals_nodelet_plugin.xml" />
     <!-- Other tools can request additional information be placed here -->
   </export>
 </package>
diff --git a/src/obstacle_detection_normals_alg_node.cpp b/src/obstacle_detection_normals_alg_node.cpp
index eb59a3d..5f6887a 100644
--- a/src/obstacle_detection_normals_alg_node.cpp
+++ b/src/obstacle_detection_normals_alg_node.cpp
@@ -134,5 +134,5 @@ void *ObstacleDetectionNormalsAlgNodelet::spin_thread(void *param)
 }
 
 // parameters are: package, class name, class type, base class type
-PLUGINLIB_DECLARE_CLASS(iri_lidar_obstacle_detector, ObstacleDetectionNormalsAlgNodelet, ObstacleDetectionNormalsAlgNodelet, nodelet::Nodelet);
+PLUGINLIB_DECLARE_CLASS(iri_nav_obstacle_detection_normals, ObstacleDetectionNormalsAlgNodelet, ObstacleDetectionNormalsAlgNodelet, nodelet::Nodelet);
 
-- 
GitLab