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aruco_map: rename published map topic from '~markers' to '~map'

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The previous name markers was overlapped with the subscribed recognized
markers topic
This commit is contained in:
Oleg Kalachev
2022-05-17 20:00:02 +03:00
parent 2796917bd0
commit 00aef350ea
4 changed files with 4 additions and 3 deletions
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1
aruco_pose/README.md
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@@ -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

2
aruco_pose/src/aruco_map.cpp
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@@ -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(

2
aruco_pose/test/basic.py
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@@ -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