From 7c357b595da6b609408fa26b275fd7cb7a30e0bc Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 3 Mar 2022 13:54:11 +0100
Subject: [PATCH] Added the output topic remapping to the input arguments.
---
launch/node.launch | 4 ++++
launch/nodelet.launch | 4 ++++
2 files changed, 8 insertions(+)
diff --git a/launch/node.launch b/launch/node.launch
index 0242e69..f8194ca 100644
--- a/launch/node.launch
+++ b/launch/node.launch
@@ -7,6 +7,8 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="obstacles_cloud_out" default="~obstacles_cloud_in"/>
+ <arg name="free_space_cloud_out" default="~free_space_cloud_in"/>
<group ns="$(arg ns)">
@@ -16,6 +18,8 @@
output="$(arg output)"
launch-prefix="$(arg launch_prefix)">
<remap from="~input" to="$(arg cloud_in)"/>
+ <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+ <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
<rosparam file="$(arg config_file)" command="load"/>
</node>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index b8c7815..f4635f3 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -8,6 +8,8 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="obstacles_cloud_out" default="~obstacles_cloud_in"/>
+ <arg name="free_space_cloud_out" default="~free_space_cloud_in"/>
<group ns="$(arg ns)">
@@ -17,6 +19,8 @@
args="load iri_obstacle_detection_normals/ObstacleDetectionNormalsAlgNodelet $(arg camera_nodelet_manager)"
output="$(arg output)">
<remap from="~input" to="$(arg cloud_in)"/>
+ <remap from="~obstacles" to="$(arg obstacles_cloud_out)"/>
+ <remap from="~free_space" to="$(arg free_space_cloud_out)"/>
<rosparam file="$(arg config_file)" command="load"/>
</node>
--
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