From e69e889e4126a7439c34fac5011dc246fe97add4 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 3 Mar 2022 13:54:45 +0100
Subject: [PATCH] Added the output topic remapping to the input arguments.
---
cfg/PointCloudHoleDetection.cfg | 6 +++---
launch/node.launch | 4 ++++
launch/nodelet.launch | 4 ++++
3 files changed, 11 insertions(+), 3 deletions(-)
diff --git a/cfg/PointCloudHoleDetection.cfg b/cfg/PointCloudHoleDetection.cfg
index 8e9864d..08d2c30 100755
--- a/cfg/PointCloudHoleDetection.cfg
+++ b/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"))
diff --git a/launch/node.launch b/launch/node.launch
index 38083f4..3faad30 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="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="$(arg config_file)" command="load"/>
</node>
diff --git a/launch/nodelet.launch b/launch/nodelet.launch
index 5636ced..4d65c09 100644
--- a/launch/nodelet.launch
+++ b/launch/nodelet.launch
@@ -8,6 +8,8 @@
<arg name="output" default="screen"/>
<arg name="launch_prefix" default=""/>
<arg name="cloud_in" default="~pointcloud_in"/>
+ <arg name="hole_zone_cloud_out" default="~hole_zone_cloud_out"/>
+ <arg name="hole_obs_cloud_out" default="~hole_obs_cloud_out"/>
<group ns="$(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>
--
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