Changed the name of the pointcloud hole detector node (removed nav).

launch/include/3d_nav_camera.launch

@@ -15,7 +15,7 @@
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
 
   <arg name="normals_node_name" default="obstacle_detection_normals"/>
-  <arg name="normals_config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+  <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
 
   <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
   <arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>

launch/include/camera_nodelets.launch

@@ -12,7 +12,7 @@
   <arg name="average_config_file" default="$(find iri_average_point_cloud)/config/default_config.yaml"/>
 
   <arg name="normals_node_name" default="obstacle_detection_normals"/>
-  <arg name="normals_config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+  <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
 
   <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
   <arg name="near_hole_detection_config_file" default="$(find iri_point_cloud_hole_detection)/config/near_config.yaml"/>
@@ -115,7 +115,7 @@
     </node> 
   </group>
 
-  <include file="$(find iri_nav_obstacle_detection_normals)/launch/nodelet.launch">
+  <include file="$(find iri_obstacle_detection_normals)/launch/nodelet.launch">
     <arg name="ns" value="$(arg ns)"/>
     <arg name="node_name" value="$(arg normals_node_name)"/>
     <arg name="camera_nodelet_manager" value="$(arg obstacle_nodelet_manager)"/>

launch/include/camera_nodes.launch

@@ -13,7 +13,7 @@
   <arg name="average_cloud_in" default="sensors/nav_cam/depth_registered/points_throttle"/>
 
   <arg name="normals_node_name" default="obstacle_detection_normals"/>
-  <arg name="normals_config_file" default="$(find iri_nav_obstacle_detection_normals)/config/default_config.yaml"/>
+  <arg name="normals_config_file" default="$(find iri_obstacle_detection_normals)/config/default_config.yaml"/>
   <arg name="normals_cloud_in" default="radius_outlier_removal/output"/>
 
   <arg name="near_hole_detection_node_name" default="near_hole_detection"/>
@@ -36,12 +36,12 @@
   </group>
 
   <include file="$(find iri_average_point_cloud)/launch/node.launch">
-	 <arg name="ns" value="$(arg ns)"/>
-         <arg name="node_name" value="$(arg average_node_name)"/>
-         <arg name="config_file" value="$(arg average_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg average_cloud_in)"/>
+	  <arg name="ns" value="$(arg ns)"/>
+    <arg name="node_name" value="$(arg average_node_name)"/>
+    <arg name="config_file" value="$(arg average_config_file)"/>
+    <arg name="output" value="$(arg output)"/>
+    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
+    <arg name="cloud_in" default="$(arg average_cloud_in)"/>
   </include>
 
   <group ns="$(arg ns)">
@@ -113,33 +113,33 @@
     </node> 
   </group>
 
-  <include file="$(find iri_nav_obstacle_detection_normals)/launch/node.launch">
-	 <arg name="ns" value="$(arg ns)"/>
-         <arg name="node_name" value="$(arg normals_node_name)"/>
-         <arg name="config_file" value="$(arg normals_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg normals_cloud_in)"/>
+  <include file="$(find iri_obstacle_detection_normals)/launch/node.launch">
+    <arg name="ns" value="$(arg ns)"/>
+    <arg name="node_name" value="$(arg normals_node_name)"/>
+    <arg name="config_file" value="$(arg normals_config_file)"/>
+    <arg name="output" value="$(arg output)"/>
+    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
+    <arg name="cloud_in" default="$(arg normals_cloud_in)"/>
   </include>
 
 <!-- **************************** HOLE DETECTION ******************************* -->
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
-	 <arg name="ns" value="$(arg ns)"/>
-         <arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
-         <arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+    <arg name="ns" value="$(arg ns)"/>
+    <arg name="node_name" value="$(arg near_hole_detection_node_name)"/>
+    <arg name="config_file" value="$(arg near_hole_detection_config_file)"/>
+    <arg name="output" value="$(arg output)"/>
+    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
+    <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
   </include>
 
   <include file="$(find iri_point_cloud_hole_detection)/launch/node.launch">
-	 <arg name="ns" value="$(arg ns)"/>
-         <arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
-         <arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
-         <arg name="output" value="$(arg output)"/>
-         <arg name="launch_prefix" default="$(arg launch_prefix)"/>
-         <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
+    <arg name="ns" value="$(arg ns)"/>
+    <arg name="node_name" value="$(arg far_hole_detection_node_name)"/>
+    <arg name="config_file" value="$(arg far_hole_detection_config_file)"/>
+    <arg name="output" value="$(arg output)"/>
+    <arg name="launch_prefix" default="$(arg launch_prefix)"/>
+    <arg name="cloud_in" default="$(arg hole_detection_cloud_in)"/>
   </include>
 
 </launch>