frame_id prefix

launch/hyperci_tof_camera.launch

@@ -8,7 +8,7 @@
         <param name="auto_start"  type="bool" value="false"/>
         <param name="data_translation" type="string" value="100"/>
 
-        <param name="topic_prefix" type="string" value="/hyperci_tof_camera"/>
+        <param name="topic_prefix" type="string" value="/hyperci_tof_camera/positionXXX"/>
 
     </node>
 

rviz/tof_camera.rviz

@@ -6,6 +6,7 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
+        - /PointCloud1
         - /Image1
         - /Image2
       Splitter Ratio: 0.5
@@ -26,7 +27,7 @@ Panels:
     Experimental: false
     Name: Time
     SyncMode: 0
-    SyncSource: ""
+    SyncSource: Image
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -75,14 +76,14 @@ Visualization Manager:
       Size (Pixels): 3
       Size (m): 0.00999999978
       Style: Flat Squares
-      Topic: /hyperci_tof_camera/point_cloud
+      Topic: /hyperci_tof_camera/positionXXX/cloud
       Unreliable: false
       Use Fixed Frame: true
       Use rainbow: true
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /hyperci_tof_camera/gray_img
+      Image Topic: /hyperci_tof_camera/positionXXX/gray_img
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -94,7 +95,7 @@ Visualization Manager:
       Value: true
     - Class: rviz/Image
       Enabled: true
-      Image Topic: /hyperci_tof_camera/boxfront_img
+      Image Topic: /hyperci_tof_camera/positionXXX/boxfront_img
       Max Value: 1
       Median window: 5
       Min Value: 0
@@ -108,7 +109,7 @@ Visualization Manager:
   Global Options:
     Background Color: 48; 48; 48
     Default Light: true
-    Fixed Frame: global
+    Fixed Frame: hyperci_tof_camera/positionXXX/link
     Frame Rate: 30
   Name: root
   Tools:

src/hyperci_tof_camera.cpp

@@ -212,7 +212,7 @@ int main(int argc, char **argv)
 
     sensor_msgs::ImagePtr msg;
 
-	tpc = topic_prefix + "/point_cloud";
+	tpc = topic_prefix + "/cloud";
 
 	ros::Publisher cloud_pub = nh.advertise<sensor_msgs::PointCloud>(tpc.c_str(), 2);
 	sensor_msgs::PointCloud cloud;
@@ -255,8 +255,9 @@ int main(int argc, char **argv)
 
 
 		/***  pointcloud  ***/
+		tpc = topic_prefix + "/link";
 		cloud.header.stamp = ros::Time::now();
-		cloud.header.frame_id = "global";
+		cloud.header.frame_id = tpc.c_str();
 		cloud.points.resize(224*172);
 		cloud.channels.resize(1);
 		cloud.channels[0].name = "gray";