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aruco_orientation, use_mocap params for aruco_vpe

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This commit is contained in:
Oleg Kalachev
2017-12-22 02:56:04 +03:00
parent 7be12fcbe4
commit deaba007cd
1 changed files with 6 additions and 2 deletions
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8
clever/src/aruco_vpe.cpp
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@@ -37,9 +37,13 @@ private:
ros::NodeHandle& nh = getNodeHandle();
ros::NodeHandle& nh_priv = getPrivateNodeHandle();
nh_priv.param<string>("aruco_orientation", aruco_orientation_, "local_origin");
bool use_mocap;
nh_priv.param<bool>("use_mocap", use_mocap, false);
static ros::Subscriber pose_sub = nh.subscribe("aruco_pose/pose", 1, &ArucoVPE::handleArucoPose, this);
vision_position_pub_ = nh.advertise<PoseStamped>("mavros/vision_pose/pose", 1);
nh_priv.param<std::string>("aruco_orientation", aruco_orientation_, "local_origin");
vision_position_pub_ = nh.advertise<PoseStamped>(use_mocap ? "mavros/mocap/pose" : "mavros/vision_pose/pose", 1);
ROS_INFO("aruco orientation frame: %s", aruco_orientation_.c_str());