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Makes topic names relative. (#60) 

* Fixes #58
master
Damon Kohler 2016-09-16 13:45:17 +02:00 committed by GitHub
parent 3592b13871
commit e576d72dfc
6 changed files with 14 additions and 15 deletions
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4
cartographer_ros/configuration_files/demo_2d.rviz
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@ -135,8 +135,8 @@ Visualization Manager:
Enabled: true Enabled: true
Map frame: map Map frame: map
Name: Submaps Name: Submaps
Submap query service: /cartographer/submap_query Submap query service: /submap_query
Topic: /cartographer/submap_list Topic: /submap_list
Tracking frame: base_link Tracking frame: base_link
Unreliable: false Unreliable: false
Value: true Value: true

4
cartographer_ros/configuration_files/demo_3d.rviz
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@ -197,8 +197,8 @@ Visualization Manager:
Enabled: true Enabled: true
Map frame: map Map frame: map
Name: Submaps Name: Submaps
Submap query service: /cartographer/submap_query Submap query service: /submap_query
Topic: /cartographer/submap_list Topic: /submap_list
Tracking frame: base_link Tracking frame: base_link
Unreliable: false Unreliable: false
Value: true Value: true

2
cartographer_ros/launch/backpack_2d.launch
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@ -21,7 +21,7 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" <node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" /> type="robot_state_publisher" />
<node name="cartographer" pkg="cartographer_ros" <node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args=" type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files -configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename backpack_2d.lua" -configuration_basename backpack_2d.lua"

2
cartographer_ros/launch/backpack_3d.launch
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@ -21,7 +21,7 @@
<node name="robot_state_publisher" pkg="robot_state_publisher" <node name="robot_state_publisher" pkg="robot_state_publisher"
type="robot_state_publisher" /> type="robot_state_publisher" />
<node name="cartographer" pkg="cartographer_ros" <node name="cartographer_node" pkg="cartographer_ros"
type="cartographer_node" args=" type="cartographer_node" args="
-configuration_directory $(find cartographer_ros)/configuration_files -configuration_directory $(find cartographer_ros)/configuration_files
-configuration_basename backpack_3d.lua" -configuration_basename backpack_3d.lua"

15
cartographer_ros/src/cartographer_node_main.cc
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@ -92,13 +92,13 @@ constexpr int kSubscriberQueueSize = 150;
constexpr double kSensorDataRatesLoggingPeriodSeconds = 15.; constexpr double kSensorDataRatesLoggingPeriodSeconds = 15.;
// Unique default topic names. Expected to be remapped as needed. // Unique default topic names. Expected to be remapped as needed.
constexpr char kLaserScanTopic[] = "/scan"; constexpr char kLaserScanTopic[] = "scan";
constexpr char kMultiEchoLaserScanTopic[] = "/echoes"; constexpr char kMultiEchoLaserScanTopic[] = "echoes";
constexpr char kPointCloud2Topic[] = "/points2"; constexpr char kPointCloud2Topic[] = "points2";
constexpr char kImuTopic[] = "/imu"; constexpr char kImuTopic[] = "imu";
constexpr char kOdometryTopic[] = "/odom"; constexpr char kOdometryTopic[] = "odom";
constexpr char kOccupancyGridTopic[] = "/map"; constexpr char kOccupancyGridTopic[] = "map";
constexpr char kScanMatchedPointCloudTopic[] = "/scan_matched_points2"; constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
struct NodeOptions { struct NodeOptions {
carto::mapping::proto::MapBuilderOptions map_builder_options; carto::mapping::proto::MapBuilderOptions map_builder_options;
@ -262,7 +262,6 @@ Node::Node(const NodeOptions& options)
: options_(options), : options_(options),
map_builder_(options.map_builder_options, &constant_data_), map_builder_(options.map_builder_options, &constant_data_),
sensor_data_producer_(kTrajectoryBuilderId, &sensor_collator_), sensor_data_producer_(kTrajectoryBuilderId, &sensor_collator_),
node_handle_("~"),
tf_buffer_(::ros::Duration(1000)), tf_buffer_(::ros::Duration(1000)),
tf_(tf_buffer_) {} tf_(tf_buffer_) {}

2
cartographer_ros/src/submaps_display.cc
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@ -48,7 +48,7 @@ constexpr char kDefaultTrackingFrame[] = "base_link";
SubmapsDisplay::SubmapsDisplay() : tf_listener_(tf_buffer_) { SubmapsDisplay::SubmapsDisplay() : tf_listener_(tf_buffer_) {
submap_query_service_property_ = new ::rviz::StringProperty( submap_query_service_property_ = new ::rviz::StringProperty(
"Submap query service", "Submap query service",
QString("/cartographer/") + kSubmapQueryServiceName, QString("/") + kSubmapQueryServiceName,
"Submap query service to connect to.", this, SLOT(Reset())); "Submap query service to connect to.", this, SLOT(Reset()));
map_frame_property_ = new ::rviz::StringProperty( map_frame_property_ = new ::rviz::StringProperty(
"Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.", "Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.",