From 724c31f745083ec2325f4323908a792b6dcb4560 Mon Sep 17 00:00:00 2001
From: pmlab <lfreixas@iri.upc.edu>
Date: Tue, 9 Oct 2018 10:53:07 +0200
Subject: [PATCH] changed launches so that parameters are correctly read
---
launch/publish_wam_chaperone_link.launch | 6 ++++--
.../{wam_follow_tracker.launch => wam_follow_device.launch} | 5 ++---
src/htc_vive_tracker_alg_node.cpp | 3 +--
3 files changed, 7 insertions(+), 7 deletions(-)
rename launch/{wam_follow_tracker.launch => wam_follow_device.launch} (65%)
diff --git a/launch/publish_wam_chaperone_link.launch b/launch/publish_wam_chaperone_link.launch
index e3b2086..56f8518 100644
--- a/launch/publish_wam_chaperone_link.launch
+++ b/launch/publish_wam_chaperone_link.launch
@@ -19,8 +19,10 @@
<node pkg="iri_htc_vive_tracker"
type = "iri_htc_vive_tracker"
- name = "iri_htc_vive_tracker" >
- <param name="target_frame" type="string" value="$(arg target_frame)"/>
+ name = "iri_htc_vive_tracker"
+ output = "screen">
+ <param name="~target_frame_name" type="string" value="$(arg target_frame)"/>
+ <remap from="~new_pose" to="/iri_wam/pose_surface"/>
</node>
</launch>
diff --git a/launch/wam_follow_tracker.launch b/launch/wam_follow_device.launch
similarity index 65%
rename from launch/wam_follow_tracker.launch
rename to launch/wam_follow_device.launch
index f034004..34adb2b 100644
--- a/launch/wam_follow_tracker.launch
+++ b/launch/wam_follow_device.launch
@@ -1,9 +1,8 @@
<launch>
<!-- Initialize htc vive and publish transformation -->
+ <arg name="device" default="tracker_1"/>
<include file="$(find iri_htc_vive_tracker)/launch/publish_wam_chaperone_link.launch">
<!-- Initialize tf-to-pose node from chaperone to tracker1-->
- <arg name="target_frame" value ="tracker_1"/>
-
+ <arg name="target_frame" value ="$(arg device)"/>
</include>
- <remap from="iri_htc_vive_tracker/new_pose" to="iri_wam/pose_surface" />
</launch>
diff --git a/src/htc_vive_tracker_alg_node.cpp b/src/htc_vive_tracker_alg_node.cpp
index d74cd0e..5d62db8 100644
--- a/src/htc_vive_tracker_alg_node.cpp
+++ b/src/htc_vive_tracker_alg_node.cpp
@@ -27,7 +27,7 @@ HtcViveTrackerAlgNode::HtcViveTrackerAlgNode(void) :
this->public_node_handle_.getParam("target_frame_name",this->target_frame_name_);
}
else {
- ROS_INFO("No param set for target_frame");
+ ROS_ERROR("No param set for target_frame");
this->frame_names_set = false;
}
@@ -116,7 +116,6 @@ void HtcViveTrackerAlgNode::mainNodeThread(void)
this->PublishPoseOfDeviceToFollow();
-
}
/* [subscriber callbacks] */
--
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