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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 #### Published
* `~pose` (*geometry_msgs/PoseWithCovarianceStamped*) – estimated map pose * `~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 * `~image` (*sensor_msgs/Image*) – planarized map image
* `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz * `~visualization` (*visualization_msgs/MarkerArray*) – markers map visualization for rviz
* `~debug` (*sensor_msgs/Image*) – debug image with detected markers and map axis * `~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? // TODO: why image_transport doesn't work here?
img_pub_ = nh_priv_.advertise<sensor_msgs::Image>("image", 1, true); 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_ = cv::makePtr<cv::aruco::Board>();
board_->dictionary = cv::aruco::getPredefinedDictionary( 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') assert img.encoding in ('mono8', 'rgb8')
def test_map_markers(node): 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[0].id == 1
assert markers.markers[1].id == 2 assert markers.markers[1].id == 2
assert markers.markers[2].id == 3 assert markers.markers[2].id == 3

2
clover/launch/aruco.launch
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@@ -15,7 +15,7 @@
<node name="aruco_detect" pkg="nodelet" if="$(eval aruco_detect and not disable)" type="nodelet" args="load aruco_pose/aruco_detect main_camera_nodelet_manager" output="screen" clear_params="true" respawn="true"> <node name="aruco_detect" pkg="nodelet" if="$(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="image_raw" to="main_camera/image_raw"/>
<remap from="camera_info" to="main_camera/camera_info"/> <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="estimate_poses" value="true"/>
<param name="send_tf" value="true"/> <param name="send_tf" value="true"/>
<param name="known_tilt" value="map" if="$(eval placement == 'floor')"/> <param name="known_tilt" value="map" if="$(eval placement == 'floor')"/>