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hardcode topics to bypass broken launchfiles #35

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May 14, 2024
Merged

hardcode topics to bypass broken launchfiles #35

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4 changes: 2 additions & 2 deletions src/ldrp/perception.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -112,9 +112,9 @@ namespace util {
PerceptionNode::PerceptionNode() : rclcpp::Node("perception_node") {
RCLCPP_INFO(this->get_logger(), "Perception Node Initialization!");
// setup subs/pubs
this->scan_sub = this->create_subscription<sensor_msgs::msg::PointCloud2>("scan", 1, // gets remapped when using launchfile
this->scan_sub = this->create_subscription<sensor_msgs::msg::PointCloud2>("/filtered_cloud", 1, // gets remapped when using launchfile
std::bind(&PerceptionNode::scan_cb, this, std::placeholders::_1));
this->pose_sub = this->create_subscription<geometry_msgs::msg::PoseStamped>("pose", 1, // ^
this->pose_sub = this->create_subscription<geometry_msgs::msg::PoseStamped>("/adjusted_pose", 1, // ^
std::bind(&PerceptionNode::pose_cb, this, std::placeholders::_1));
this->grid_pub = this->create_publisher<nav_msgs::msg::OccupancyGrid>("/ldrp/obstacle_grid", 1);

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