Commit 18b16e07 by Your Name

frame_id prefix

parent 62c9f12c
......@@ -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>
......
......@@ -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:
......
......@@ -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";
......
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