Added the output topic remapping to the input arguments.

cfg/PointCloudHoleDetection.cfg

@@ -41,10 +41,10 @@ gen = ParameterGenerator()
 #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_y",                   double_t,  0,                               "Y distance hole detection zone", 0.6,      0,    3)
 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("box_x_ini",               double_t,  0,                               "Initial X hole detection zone",  0.8,      -4.0,    4.0)
+gen.add("box_x_end",               double_t,  0,                               "X distance hole detection zone", 0.9,      -4.0,  4.0)
 
 exit(gen.generate(PACKAGE, "PointCloudHoleDetectionAlgorithm", "PointCloudHoleDetection"))

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="hole_zone_cloud_out" default="~hole_zone_cloud_out"/>
+  <arg name="hole_obs_cloud_out" default="~hole_obs_cloud_out"/>
 
   <group ns="$(arg ns)">
 
@@ -16,6 +18,8 @@
           output="$(arg output)"
           launch-prefix="$(arg launch_prefix)">
       <remap from="~input" to="$(arg cloud_in)"/>
+      <remap from="~hole_zone" to="$(arg hole_zone_cloud_out)"/>
+      <remap from="~hole_obstacle" to="$(arg hole_obs_cloud_out)"/>
       <rosparam file="$(arg config_file)" command="load"/>
     </node>
 

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="hole_zone_cloud_out" default="~hole_zone_cloud_out"/>
+  <arg name="hole_obs_cloud_out" default="~hole_obs_cloud_out"/>
 
   <group ns="$(arg ns)">
 
@@ -17,6 +19,8 @@
           args="load iri_point_cloud_hole_detection/PointCloudHoleDetectionAlgNodelet $(arg camera_nodelet_manager)"
           output="$(arg output)">
       <remap from="~input" to="$(arg cloud_in)"/>
+      <remap from="~hole_zone" to="$(arg hole_zone_cloud_out)"/>
+      <remap from="~hole_obstacle" to="$(arg hole_obs_cloud_out)"/>
       <rosparam file="$(arg config_file)" command="load"/>
     </node>