Merge pull request #11 from miguelcastillon/fix/input-cloud-param

Using param /node_topic as cloud input
url-kaist · Jun 18, 2024 · b4a41ad · b4a41ad
2 parents 71f2104 + 7420631
commit b4a41ad
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/travel_run.cpp b/src/travel_run.cpp
@@ -90,6 +90,7 @@ int main(int argc, char **argv) {
 
     // Set Parameters
     std::string cloud_topic_;
+    nh.param<string> ("/node_topic"  , cloud_topic_, "/ouster/points");
     std::cout << "\033[1;32m" << "Cloud topic: " << cloud_topic_ << "\033[0m" << std::endl;
     nh.param<bool> ("/save_results/save_labels"  , save_labels_, false);
     nh.param<string> ("/save_results/abs_save_dir"  , abs_save_dir_, "");
@@ -167,7 +168,7 @@ int main(int argc, char **argv) {
     pub_ground_cloud = nh.advertise<sensor_msgs::PointCloud2>("travel/ground_pc", 1);
     pub_labeled_cloud = nh.advertise<sensor_msgs::PointCloud2>("travel/segmented_pc", 1);
 
-    ros::Subscriber sub_ptCloud = nh.subscribe<sensor_msgs::PointCloud2>("/ouster/points", 4000, callbackCloud, ros::TransportHints().tcpNoDelay());
+    ros::Subscriber sub_ptCloud = nh.subscribe<sensor_msgs::PointCloud2>(cloud_topic_, 4000, callbackCloud, ros::TransportHints().tcpNoDelay());
     ros::spin();
 
     return 0;