From 57167f5ae27ec26e2a0bc927aa0bd12f8d43a74a Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Thu, 20 May 2021 11:12:52 +0200
Subject: [PATCH] camera_nodelets.launch: hardcoded parameters now use ns
argument
---
launch/include/3d_nav_lidar.launch | 2 +-
launch/include/camera_nodelets.launch | 4 ++--
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/launch/include/3d_nav_lidar.launch b/launch/include/3d_nav_lidar.launch
index 8daa07a..742cb51 100644
--- a/launch/include/3d_nav_lidar.launch
+++ b/launch/include/3d_nav_lidar.launch
@@ -11,7 +11,7 @@
<arg name="lidar_filter_node_name" default="lidar_filter"/>
<arg name="lidar_filter_config_file" default="$(find iri_point_cloud_angle_filter)/config/default_config.yaml"/>
- <arg name="lidar_filter_cloud_in" default="/ana/sensors/velodyne_points" />
+ <arg name="lidar_filter_cloud_in" default="/$(arg ns)/sensors/velodyne_points" />
<arg name="lidar_detector_node_name" default="lidar_detector"/>
<arg name="lidar_detector_config_file" default="$(find iri_lidar_obstacle_detector)/config/default_config.yaml"/>
diff --git a/launch/include/camera_nodelets.launch b/launch/include/camera_nodelets.launch
index caeff32..97a8b74 100644
--- a/launch/include/camera_nodelets.launch
+++ b/launch/include/camera_nodelets.launch
@@ -61,9 +61,9 @@
args="load pcl/VoxelGrid $(arg obstacle_nodelet_manager)"
output="$(arg output)">
<remap from="~input" to="average_point_cloud/output" />
+ <param name="input_frame" value="$(arg ns)/base_footprint"/>
+ <param name="output_frame" value="$(arg ns)/base_footprint"/>
<rosparam>
- input_frame: 'ana/base_footprint'
- output_frame: 'ana/base_footprint'
leaf_size: 0.03
filter_field_name: z
filter_limit_min: -0.5
--
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