From 00aef350eafd0944530f7b3ee690e4e74e1f6553 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Tue, 17 May 2022 20:00:02 +0300
Subject: [PATCH] aruco_map: rename published map topic from '~markers' to
 '~map' The previous name markers was overlapped with the subscribed
 recognized markers topic

---
 aruco_pose/README.md         | 1 +
 aruco_pose/src/aruco_map.cpp | 2 +-
 aruco_pose/test/basic.py     | 2 +-
 clover/launch/aruco.launch   | 2 +-
 4 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/aruco_pose/README.md b/aruco_pose/README.md
index 83b43879..366d9b33 100644
--- a/aruco_pose/README.md
+++ b/aruco_pose/README.md
@@ -97,6 +97,7 @@ See examples in [`map`](map/) directory.
 #### Published
 
 * `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose
+* `~map` (*aruco_pose/MarkerArray*) – list of markers in the loaded map
 * `~image` (*sensor_msgs/Image*) – planarized map image
 * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
 * `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis
diff --git a/aruco_pose/src/aruco_map.cpp b/aruco_pose/src/aruco_map.cpp
index b9a24e6c..02f32b0b 100644
--- a/aruco_pose/src/aruco_map.cpp
+++ b/aruco_pose/src/aruco_map.cpp
@@ -89,7 +89,7 @@ public:
 
 		// TODO: why image_transport doesn't work here?
 		img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true);
-		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("markers", 1, true);
+		markers_pub_ = nh_priv_.advertise<aruco_pose::MarkerArray>("map", 1, true);
 
 		board_ = cv::makePtr<cv::aruco::Board>();
 		board_->dictionary = cv::aruco::getPredefinedDictionary(
diff --git a/aruco_pose/test/basic.py b/aruco_pose/test/basic.py
index c8eca6c3..94203ef9 100755
--- a/aruco_pose/test/basic.py
+++ b/aruco_pose/test/basic.py
@@ -143,7 +143,7 @@ def test_map_image(node):
     assert img.encoding in ('mono8', 'rgb8')
 
 def test_map_markers(node):
-    markers = rospy.wait_for_message('aruco_map/markers', MarkerArray, timeout=5)
+    markers = rospy.wait_for_message('aruco_map/map', MarkerArray, timeout=5)
     assert markers.markers[0].id == 1
     assert markers.markers[1].id == 2
     assert markers.markers[2].id == 3
diff --git a/clover/launch/aruco.launch b/clover/launch/aruco.launch
index 75f8165e..03a51b35 100644
--- a/clover/launch/aruco.launch
+++ b/clover/launch/aruco.launch
@@ -15,7 +15,7 @@
     <node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true">
         <remap from="image_raw" to="main_camera/image_raw"/>
         <remap from="camera_info" to="main_camera/camera_info"/>
-        <remap from="map_markers" to="aruco_map/markers"/>
+        <remap from="map_markers" to="aruco_map/map"/>
         <param name="estimate_poses" value="true"/>
         <param name="send_tf" value="true"/>
         <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>