fixed namespacing issue with stereo image proc and ros image (#63)

castacks · Sep 30, 2024 · 01c5441 · 01c5441
1 parent 005a1b7
commit 01c5441
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Showing 2 changed files with 15 additions and 8 deletions.
diff --git a/ros_ws/src/robot/robot_bringup/config/core.rviz b/ros_ws/src/robot/robot_bringup/config/core.rviz
@@ -187,7 +187,7 @@ Visualization Manager:
         Durability Policy: Volatile
         History Policy: Keep Last
         Reliability Policy: Reliable
-        Value: left/image_rect
+        Value: sensors/front_stereo/left/image_rect
       Value: true
   Enabled: true
   Global Options:
@@ -273,5 +273,5 @@ Window Geometry:
   Views:
     collapsed: false
   Width: 1284
-  X: 73
-  Y: 29
+  X: 729
+  Y: 249
diff --git a/ros_ws/src/robot/robot_bringup/launch/ascent_drone.xml b/ros_ws/src/robot/robot_bringup/launch/ascent_drone.xml
@@ -30,7 +30,10 @@
 
 
   <!-- Perception -->
-  <node name="stereo_image_proc" pkg="stereo_image_proc" exec="disparity_node" />
+  <group>
+    <push_ros_namespace namespace="sensors/front_stereo" />
+    <node name="stereo_image_proc" pkg="stereo_image_proc" exec="disparity_node" />
+  </group>
 
   <!-- Local -->
   <!-- mapping -->
@@ -66,10 +69,14 @@
   <node name="rqt" pkg="rqt_gui" exec="rqt_gui"
     args="--perspective-file $(find-pkg-share robot_bringup)/config/core.perspective" />
   <node name="rviz" pkg="rviz2" exec="rviz2"
-    args="-d $(find-pkg-share robot_bringup)/config/core.rviz" output="screen" />
-  <node name="disparity_view" pkg="image_view" exec="disparity_view">
-    <remap from="image" to="disparity" />
-  </node>
+	args="-d $(find-pkg-share robot_bringup)/config/core.rviz" output="screen" />
+
+  <group>
+    <push_ros_namespace namespace="sensors/front_stereo" />
+    <node name="disparity_view" pkg="image_view" exec="disparity_view">
+      <remap from="image" to="disparity" />
+    </node>
+  </group>
 
 
 </launch>