diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0ee7f72f0c187d7b1b7929b5ea7e3c68f584d168..fd27ab0ab859cc702cf2d68a36e69db886771197 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -2,7 +2,7 @@
# The new CMakeLists.txt file starts here
# ********************************************************************
cmake_minimum_required(VERSION 2.8.3)
-project(iri_nav_hole_detection)
+project(iri_point_cloud_hole_detection)
## Find catkin macros and libraries
#find_package(catkin REQUIRED)
@@ -54,7 +54,7 @@ find_package(iriutils REQUIRED)
# ********************************************************************
# Add the dynamic reconfigure file
# ********************************************************************
-generate_dynamic_reconfigure_options(cfg/HoleDetection.cfg)
+generate_dynamic_reconfigure_options(cfg/PointCloudHoleDetection.cfg)
# ********************************************************************
# Add run time dependencies here
@@ -87,7 +87,7 @@ include_directories(${iriutils_INCLUDE_DIR} ./include)
# add_library(${PROJECT_NAME} <list of source files>)
## Declare a cpp executable
-add_executable(${PROJECT_NAME} src/iri_nav_hole_detection_alg.cpp src/iri_nav_hole_detection_alg_node.cpp)
+add_executable(${PROJECT_NAME} src/iri_point_cloud_hole_detection_alg.cpp src/iri_point_cloud_hole_detection_alg_node.cpp)
# ********************************************************************
# Add the libraries
diff --git a/cfg/HoleDetection.cfg b/cfg/PointCloudHoleDetection.cfg
similarity index 65%
rename from cfg/HoleDetection.cfg
rename to cfg/PointCloudHoleDetection.cfg
index d8c1a88d6ab27efa8db25da633d77a14987a6849..8e9864d17f19d5b7fca90d4d0cedd2d35459797c 100755
--- a/cfg/HoleDetection.cfg
+++ b/cfg/PointCloudHoleDetection.cfg
@@ -31,7 +31,7 @@
# Author:
-PACKAGE='iri_nav_hole_detection'
+PACKAGE='iri_point_cloud_hole_detection'
from dynamic_reconfigure.parameter_generator_catkin import *
@@ -39,13 +39,12 @@ gen = ParameterGenerator()
# Name Type Reconfiguration level Description Default Min Max
#gen.add("velocity_scale_factor", double_t, 0, "Maximum velocity scale factor", 0.5, 0.0, 1.0)
-gen.add( "hole_min_p", int_t, 0, "No of Points to be hole (less points is a hole)", 30, 5, 200)
-gen.add( "num_cells", int_t, 0, "No of cells in the detections zone", 3, 1, 10)
-gen.add( "box_y", double_t, 0, "Y distance hole detection zone", 0.6, 0, 1.5)
-gen.add( "box_z_ini", double_t, 0, "Initial Z hole detection zone", 0, -0.5, 0.5)
-gen.add( "box_z_end", double_t, 0, "Z distance hole detection zone", 0.1, -0.5, 0.5)
-gen.add( "box_x_ini", double_t, 0, "Initial X hole detection zone", 0.8, 0, 2)
-gen.add( "box_x_end", double_t, 0, "X distance hole detection zone", 0.9, 0.5, 2)
+gen.add("hole_min_p", int_t, 0, "No of Points to be hole (less points is a hole)",30,5,200)
+gen.add("num_cells", int_t, 0, "No of cells in the detections zone",3, 1, 10)
+gen.add("box_y", double_t, 0, "Y distance hole detection zone", 0.6, 0, 1.5)
+gen.add("box_z_ini", double_t, 0, "Initial Z hole detection zone", 0, -0.5, 0.5)
+gen.add("box_z_end", double_t, 0, "Z distance hole detection zone", 0.1, -0.5, 0.5)
+gen.add("box_x_ini", double_t, 0, "Initial X hole detection zone", 0.8, 0, 2)
+gen.add("box_x_end", double_t, 0, "X distance hole detection zone", 0.9, 0.5, 2)
-
-exit(gen.generate(PACKAGE, "HoleDetectionAlgorithm", "HoleDetection"))
+exit(gen.generate(PACKAGE, "PointCloudHoleDetectionAlgorithm", "PointCloudHoleDetection"))
diff --git a/config/far_config.yaml b/config/far_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..217b2186429cfb36e881879b387e6513e88d76b4
--- /dev/null
+++ b/config/far_config.yaml
@@ -0,0 +1,7 @@
+hole_min_p: 35
+num_cells: 3
+box_y: 0.6
+box_z_ini: -0.1
+box_z_end: 0.1
+box_x_ini: 0.8
+box_x_end: 1.1
diff --git a/config/near_config.yaml b/config/near_config.yaml
new file mode 100755
index 0000000000000000000000000000000000000000..70c30b1747842ccbf7b8e62f2d0df4e9132559fa
--- /dev/null
+++ b/config/near_config.yaml
@@ -0,0 +1,7 @@
+hole_min_p: 35
+num_cells: 3
+box_y: 0.45
+box_z_ini: -0.1
+box_z_end: 0.1
+box_x_ini: 0.6
+box_x_end: 0.85
diff --git a/include/iri_nav_hole_detection_alg.h b/include/iri_point_cloud_hole_detection_alg.h
similarity index 87%
rename from include/iri_nav_hole_detection_alg.h
rename to include/iri_point_cloud_hole_detection_alg.h
index 9ef67472a8cf79d70c6582b32511055d4060f88b..16835cc0cfaa9b201fcd0cb1cf6d40df1178fade 100644
--- a/include/iri_nav_hole_detection_alg.h
+++ b/include/iri_point_cloud_hole_detection_alg.h
@@ -22,10 +22,10 @@
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
-#ifndef _iri_nav_hole_detection_alg_h_
-#define _iri_nav_hole_detection_alg_h_
+#ifndef _iri_point_cloud_hole_detection_alg_h_
+#define _iri_point_cloud_hole_detection_alg_h_
-#include <iri_nav_hole_detection/HoleDetectionConfig.h>
+#include <iri_point_cloud_hole_detection/PointCloudHoleDetectionConfig.h>
#include "mutex.h"
#include <pcl_ros/point_cloud.h>
@@ -33,9 +33,6 @@
#include <pcl/point_types.h>
#include <pcl/impl/point_types.hpp>
-
-using namespace pcl;
-using namespace std;
//include hole_detection_alg main library
/**
@@ -43,13 +40,13 @@ using namespace std;
*
*
*/
-class HoleDetectionAlgorithm
+class PointCloudHoleDetectionAlgorithm
{
protected:
/**
* \brief define config type
*
- * Define a Config type with the HoleDetectionConfig. All driver implementations
+ * Define a Config type with the PointCloudHoleDetectionConfig. All driver implementations
* will then use the same variable type Config.
*/
CMutex alg_mutex_;
@@ -63,10 +60,10 @@ class HoleDetectionAlgorithm
/**
* \brief define config type
*
- * Define a Config type with the HoleDetectionConfig. All driver implementations
+ * Define a Config type with the PointCloudHoleDetectionConfig. All driver implementations
* will then use the same variable type Config.
*/
- typedef iri_nav_hole_detection::HoleDetectionConfig Config;
+ typedef iri_point_cloud_hole_detection::PointCloudHoleDetectionConfig Config;
/**
* \brief config variable
@@ -84,7 +81,7 @@ class HoleDetectionAlgorithm
* Attributes from the main node driver class IriBaseDriver such as loop_rate,
* may be also overload here.
*/
- HoleDetectionAlgorithm(void);
+ PointCloudHoleDetectionAlgorithm(void);
/**
* \brief Lock Algorithm
@@ -131,7 +128,7 @@ class HoleDetectionAlgorithm
* This destructor is called when the object is about to be destroyed.
*
*/
- ~HoleDetectionAlgorithm(void);
+ ~PointCloudHoleDetectionAlgorithm(void);
void cloud_all(int hole_min_p, float box_z_end, float box_x_ini,
float box_y, float box_z_ini, float box_x_end, int num_cells, float Z,
diff --git a/include/iri_nav_hole_detection_alg_node.h b/include/iri_point_cloud_hole_detection_alg_node.h
similarity index 91%
rename from include/iri_nav_hole_detection_alg_node.h
rename to include/iri_point_cloud_hole_detection_alg_node.h
index 28221d8e8dbf5522036f4d724c3aec4fcc283a3a..c2e249b1ce7ccd574434dd2779a9df683a4d3b68 100644
--- a/include/iri_nav_hole_detection_alg_node.h
+++ b/include/iri_point_cloud_hole_detection_alg_node.h
@@ -22,11 +22,11 @@
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab
-#ifndef _iri_nav_hole_detection_alg_node_h_
-#define _iri_nav_hole_detection_alg_node_h_
+#ifndef _iri_point_cloud_hole_detection_alg_node_h_
+#define _iri_point_cloud_hole_detection_alg_node_h_
#include <iri_base_algorithm/iri_base_algorithm.h>
-#include "iri_nav_hole_detection_alg.h"
+#include "iri_point_cloud_hole_detection_alg.h"
#include <ros/ros.h>
//#include <ros/publisher.h>
@@ -51,7 +51,7 @@ using namespace std;
* \brief IRI ROS Specific Algorithm Class
*
*/
-class HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>
+class PointCloudHoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<PointCloudHoleDetectionAlgorithm>
{
private:
@@ -80,7 +80,7 @@ class HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetecti
// [client attributes]
// [action server attributes]
- HoleDetectionAlgorithm hole_detect;
+ PointCloudHoleDetectionAlgorithm hole_detect;
// [action client attributes]
public:
@@ -90,7 +90,7 @@ class HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetecti
* This constructor initializes specific class attributes and all ROS
* communications variables to enable message exchange.
*/
- HoleDetectionAlgNode(void);
+ PointCloudHoleDetectionAlgNode(void);
/**
* \brief Destructor
@@ -98,7 +98,7 @@ class HoleDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<HoleDetecti
* This destructor frees all necessary dynamic memory allocated within this
* this class.
*/
- ~HoleDetectionAlgNode(void);
+ ~PointCloudHoleDetectionAlgNode(void);
protected:
/**
diff --git a/launch/node.launch b/launch/node.launch
new file mode 100644
index 0000000000000000000000000000000000000000..38083f4f96fc7361ab9a902d4fdcc4217a66b023
--- /dev/null
+++ b/launch/node.launch
@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="ana"/>
+ <arg name="node_name" default="point_cloud_hole_detection"/>
+ <arg name="config_file" default="$(find iri_point_cloud_hole_detection)/config/default_config.yaml"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="cloud_in" default="~pointcloud_in"/>
+
+ <group ns="$(arg ns)">
+
+ <node pkg ="iri_point_cloud_hole_detection"
+ type="iri_point_cloud_hole_detection"
+ name="$(arg node_name)"
+ output="$(arg output)"
+ launch-prefix="$(arg launch_prefix)">
+ <remap from="~input" to="$(arg cloud_in)"/>
+ <rosparam file="$(arg config_file)" command="load"/>
+ </node>
+
+ </group>
+
+</launch>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
new file mode 100644
index 0000000000000000000000000000000000000000..8bc3fd6b2fc60d0bb6def78f87a44483cffff4e8
--- /dev/null
+++ b/launch/nodelet.launch
@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+
+ <arg name="ns" default="ana"/>
+ <arg name="node_name" default="point_cloud_hole_detection"/>
+ <arg name="camera_nodelet_manager" default="camera_nodelet_manager"/>
+ <arg name="config_file" default="$(find iri_point_cloud_hole_detection)/config/default_config.yaml"/>
+ <arg name="output" default="screen"/>
+ <arg name="launch_prefix" default=""/>
+ <arg name="cloud_in" default="~pointcloud_in"/>
+
+ <group ns="$(arg ns)">
+
+ <node name="$(arg node_name)"
+ pkg="nodelet"
+ type="nodelet"
+ args="load iri_point_cloud_hole_detection/AveragePointCloudAlgNodelet $(arg camera_nodelet_manager)"
+ output="$(arg output)">
+ <remap from="~input" to="$(arg cloud_in)"/>
+ <rosparam file="$(arg config_file)" command="load"/>
+ </node>
+
+ </group>
+
+</launch>
diff --git a/mainpage.dox b/mainpage.dox
deleted file mode 100644
index 1884406135d37652c42317d1b8bb6e88bec9e0b4..0000000000000000000000000000000000000000
--- a/mainpage.dox
+++ /dev/null
@@ -1,26 +0,0 @@
-/**
-\mainpage
-\htmlinclude manifest.html
-
-\b iri_hole_detection is ...
-
-<!--
-Provide an overview of your package.
--->
-
-
-\section codeapi Code API
-
-<!--
-Provide links to specific auto-generated API documentation within your
-package that is of particular interest to a reader. Doxygen will
-document pretty much every part of your code, so do your best here to
-point the reader to the actual API.
-
-If your codebase is fairly large or has different sets of APIs, you
-should use the doxygen 'group' tag to keep these APIs together. For
-example, the roscpp documentation has 'libros' group.
--->
-
-
-*/
diff --git a/package.xml b/package.xml
index 7e51220cff94a0e86badeefd7f2089587076821e..7d1923bdb6a1a692f86d0953a6bcdee39887fd36 100644
--- a/package.xml
+++ b/package.xml
@@ -1,8 +1,8 @@
<?xml version="1.0"?>
<package>
- <name>iri_nav_hole_detection</name>
+ <name>iri_point_cloud_hole_detection</name>
<version>1.0.0</version>
- <description>iri_nav_hole_detection</description>
+ <description>iri_point_cloud_hole_detection</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
diff --git a/src/iri_nav_hole_detection_alg.cpp b/src/iri_nav_hole_detection_alg.cpp
deleted file mode 100644
index f72fbbbff43404275ea5b8788265804260d5a8e9..0000000000000000000000000000000000000000
--- a/src/iri_nav_hole_detection_alg.cpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include "iri_nav_hole_detection_alg.h"
-using namespace std;
-
-HoleDetectionAlgorithm::HoleDetectionAlgorithm(void)
-{
-}
-
-HoleDetectionAlgorithm::~HoleDetectionAlgorithm(void)
-{
-}
-
-void HoleDetectionAlgorithm::config_update(Config& new_cfg, uint32_t level)
-{
- this->lock();
-
- // save the current configuration
- this->config_=new_cfg;
-
- this->unlock();
-}
-
-// HoleDetectionAlgorithm Public API
-/*
-It selects the points inside a box generated using the input params. These points
-are separated in three regions. If any of them has less than a minimum number of
-points, there is a hole so it generates a virtual obstacle in order to notify
-the navigation stack.
-*/
-void HoleDetectionAlgorithm::cloud_all(int hole_min_p, float box_z_end, float box_x_ini,
- float box_y, float box_z_ini, float box_x_end, int num_cells, float Z,
- pcl::PointCloud<pcl::PointXYZRGB>& cloud_in,
- pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_for)
-{
-
-int p [num_cells] = {};
-float threshold [num_cells+1] = {};
-
-//////////////////////////////////////////////////////////////////////////////
-// Hole detection box generation
-//////////////////////////////////////////////////////////////////////////////
-for (int i=0; i<=num_cells; ++i)
-{
- threshold[i] = (box_y/2)-((num_cells-i)*(box_y/num_cells));
-}
-
-
-for (size_t rowIndex=0, pointIndex=0; rowIndex<cloud_in.height; ++rowIndex)
-{
- for (size_t colIndex=0; colIndex<cloud_in.width; ++colIndex, ++pointIndex)
- {
- if (box_z_ini < cloud_in.points[pointIndex].z &&
- cloud_in.points[pointIndex].z < box_z_end &&
- box_x_ini < cloud_in.points[pointIndex].x &&
- cloud_in.points[pointIndex].x < box_x_end)
- {
- for (int cell=0; cell<num_cells; ++cell)
- {
- if ( threshold[cell] < cloud_in.points[pointIndex].y &&
- cloud_in.points[pointIndex].y < threshold[cell+1] )
- {
- cloud_in.points[pointIndex].r=0;
- cloud_in.points[pointIndex].g=int(255*(float(cell)/float(max(1,num_cells-1))));
- cloud_in.points[pointIndex].b=255;
- p[cell]=p[cell]+1;
- }
- }
- } //if() bracket
- }
-}
-
-//////////////////////////////////////////////////////////////////////////////
-// Virtual obstacle generation
-//////////////////////////////////////////////////////////////////////////////
-Z=0.1;
-
-for (size_t rowIndex=0, pointIndex=0; rowIndex<5; ++rowIndex)
-{
- for (size_t colIndex=0; colIndex<5; ++colIndex, ++pointIndex)
- {
- for (int cell=0; cell<num_cells; ++cell)
- {
- if (p[cell] < hole_min_p)
- {
- cloud_for->points.push_back (pcl::PointXYZ(box_x_ini, threshold[cell] +
- (threshold[cell+1]-threshold[cell])*colIndex/4, Z));
- }
- }
- }
- Z=Z+0.05;
-}
-
-}
diff --git a/src/iri_point_cloud_hole_detection_alg.cpp b/src/iri_point_cloud_hole_detection_alg.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1bc9e73f3f66a181fffe9ba7219e1e299c14c
--- /dev/null
+++ b/src/iri_point_cloud_hole_detection_alg.cpp
@@ -0,0 +1,88 @@
+#include "iri_point_cloud_hole_detection_alg.h"
+using namespace std;
+
+PointCloudHoleDetectionAlgorithm::PointCloudHoleDetectionAlgorithm(void)
+{
+}
+
+PointCloudHoleDetectionAlgorithm::~PointCloudHoleDetectionAlgorithm(void)
+{
+}
+
+void PointCloudHoleDetectionAlgorithm::config_update(Config& new_cfg, uint32_t level)
+{
+ this->lock();
+
+ // save the current configuration
+ this->config_=new_cfg;
+
+ this->unlock();
+}
+
+// PointCloudHoleDetectionAlgorithm Public API
+/*
+It selects the points inside a box generated using the input params. These points
+are separated in three regions. If any of them has less than a minimum number of
+points, there is a hole so it generates a virtual obstacle in order to notify
+the navigation stack.
+*/
+void PointCloudHoleDetectionAlgorithm::cloud_all(int hole_min_p, float box_z_end, float box_x_ini,
+ float box_y, float box_z_ini, float box_x_end, int num_cells, float Z,
+ pcl::PointCloud<pcl::PointXYZRGB>& cloud_in,
+ pcl::PointCloud<pcl::PointXYZ>::Ptr& cloud_for)
+{
+ int p [num_cells] = {};
+ float threshold [num_cells+1] = {};
+
+ //////////////////////////////////////////////////////////////////////////////
+ // Hole detection box generation
+ //////////////////////////////////////////////////////////////////////////////
+ for(int i=0;i<=num_cells;++i)
+ threshold[i]=(box_y/2)-((num_cells-i)*(box_y/num_cells));
+
+
+ for (size_t rowIndex=0, pointIndex=0; rowIndex<cloud_in.height; ++rowIndex)
+ {
+ for (size_t colIndex=0; colIndex<cloud_in.width; ++colIndex, ++pointIndex)
+ {
+ if (box_z_ini < cloud_in.points[pointIndex].z &&
+ cloud_in.points[pointIndex].z < box_z_end &&
+ box_x_ini < cloud_in.points[pointIndex].x &&
+ cloud_in.points[pointIndex].x < box_x_end)
+ {
+ for (int cell=0; cell<num_cells; ++cell)
+ {
+ if ( threshold[cell] < cloud_in.points[pointIndex].y &&
+ cloud_in.points[pointIndex].y < threshold[cell+1] )
+ {
+ cloud_in.points[pointIndex].r=0;
+ cloud_in.points[pointIndex].g=int(255*(float(cell)/float(max(1,num_cells-1))));
+ cloud_in.points[pointIndex].b=255;
+ p[cell]=p[cell]+1;
+ }
+ }
+ } //if() bracket
+ }
+ }
+
+ //////////////////////////////////////////////////////////////////////////////
+ // Virtual obstacle generation
+ //////////////////////////////////////////////////////////////////////////////
+ Z=0.1;
+
+ for (size_t rowIndex=0, pointIndex=0; rowIndex<5; ++rowIndex)
+ {
+ for (size_t colIndex=0; colIndex<5; ++colIndex, ++pointIndex)
+ {
+ for (int cell=0; cell<num_cells; ++cell)
+ {
+ if (p[cell] < hole_min_p)
+ {
+ cloud_for->points.push_back (pcl::PointXYZ(box_x_ini, threshold[cell] +
+ (threshold[cell+1]-threshold[cell])*colIndex/4, Z));
+ }
+ }
+ }
+ Z=Z+0.05;
+ }
+}
diff --git a/src/iri_nav_hole_detection_alg_node.cpp b/src/iri_point_cloud_hole_detection_alg_node.cpp
similarity index 79%
rename from src/iri_nav_hole_detection_alg_node.cpp
rename to src/iri_point_cloud_hole_detection_alg_node.cpp
index 5159593f36cb2bb23300e595529d90b009e824ce..428da29783828ae722902d21954f32f601baec3d 100644
--- a/src/iri_nav_hole_detection_alg_node.cpp
+++ b/src/iri_point_cloud_hole_detection_alg_node.cpp
@@ -1,7 +1,7 @@
-#include "iri_nav_hole_detection_alg_node.h"
+#include "iri_point_cloud_hole_detection_alg_node.h"
-HoleDetectionAlgNode::HoleDetectionAlgNode(void) :
- algorithm_base::IriBaseAlgorithm<HoleDetectionAlgorithm>(),hole_min_p(60),box_z_end(0),box_x_ini(1),
+PointCloudHoleDetectionAlgNode::PointCloudHoleDetectionAlgNode(void) :
+ algorithm_base::IriBaseAlgorithm<PointCloudHoleDetectionAlgorithm>(),hole_min_p(60),box_z_end(0),box_x_ini(1),
box_z_ini(-0.1),box_x_end(1.8),box_y(0.9),num_cells(3)
{
//init class attributes if necessary
@@ -11,7 +11,7 @@ HoleDetectionAlgNode::HoleDetectionAlgNode(void) :
this->hole_obstacle_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud>("hole_obstacle", 10);
this->hole_all_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("hole_zone", 10);
// [init subscribers]
- this->input_subscriber_ = this->public_node_handle_.subscribe("input", 10, &HoleDetectionAlgNode::input_callback, this);
+ this->input_subscriber_ = this->public_node_handle_.subscribe("input", 10, &PointCloudHoleDetectionAlgNode::input_callback, this);
// [init services]
@@ -23,12 +23,12 @@ HoleDetectionAlgNode::HoleDetectionAlgNode(void) :
// [init action clients]
}
-HoleDetectionAlgNode::~HoleDetectionAlgNode(void)
+PointCloudHoleDetectionAlgNode::~PointCloudHoleDetectionAlgNode(void)
{
// [free dynamic memory]
}
-void HoleDetectionAlgNode::mainNodeThread(void)
+void PointCloudHoleDetectionAlgNode::mainNodeThread(void)
{
// [fill msg structures]
//this->PointCloud2_msg_.data = my_var;
@@ -41,9 +41,9 @@ void HoleDetectionAlgNode::mainNodeThread(void)
}
//PointCloud2_msg_
/* [subscriber callbacks] */
-void HoleDetectionAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg)
+void PointCloudHoleDetectionAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg)
{
- ROS_INFO("HoleDetectionAlgNode::input_callback: New Message Received");
+ ROS_INFO("PointCloudHoleDetectionAlgNode::input_callback: New Message Received");
@@ -116,7 +116,7 @@ void HoleDetectionAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstP
/* [action requests] */
-void HoleDetectionAlgNode::node_config_update(Config &config, uint32_t level)
+void PointCloudHoleDetectionAlgNode::node_config_update(Config &config, uint32_t level)
{
this->alg_.lock();
hole_min_p=config.hole_min_p;
@@ -129,12 +129,12 @@ num_cells=config.num_cells;
this->alg_.unlock();
}
-void HoleDetectionAlgNode::addNodeDiagnostics(void)
+void PointCloudHoleDetectionAlgNode::addNodeDiagnostics(void)
{
}
/* main function */
int main(int argc,char *argv[])
{
- return algorithm_base::main<HoleDetectionAlgNode>(argc, argv, "iri_nav_hole_detection_alg_node");
+ return algorithm_base::main<PointCloudHoleDetectionAlgNode>(argc, argv, "iri_point_cloud_hole_detection_alg_node");
}