topic名を抽象的なものに変更

rt-net · Jan 9, 2024 · d2e3757 · d2e3757
1 parent e58f2a1
commit d2e3757
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Showing 4 changed files with 10 additions and 4 deletions.
diff --git a/sciurus17_examples/launch/chest_camera_tracking.launch.py b/sciurus17_examples/launch/chest_camera_tracking.launch.py
@@ -38,7 +38,7 @@ def generate_launch_description():
                 name='color_detection',
                 namespace='chest_camera_tracking',
                 remappings=[
-                    ('/head_camera/color/image_raw', '/chest_camera/image_raw')
+                    ('/image_raw', '/chest_camera/image_raw')
                 ],
                 extra_arguments=[{'use_intra_process_comms': True}]
                 ),
@@ -48,7 +48,7 @@ def generate_launch_description():
                 name='object_tracker',
                 namespace='chest_camera_tracking',
                 remappings=[
-                    ('/neck_controller/controller_state', '/waist_yaw_controller/controller_state')
+                    ('/controller_state', '/waist_yaw_controller/controller_state')
                 ],
                 extra_arguments=[{'use_intra_process_comms': True}]
                 ),

diff --git a/sciurus17_examples/launch/head_camera_tracking.launch.py b/sciurus17_examples/launch/head_camera_tracking.launch.py
@@ -37,6 +37,9 @@ def generate_launch_description():
                 plugin='sciurus17_examples::ColorDetection',
                 name='color_detection',
                 namespace='head_camera_tracking',
+                remappings=[
+                    ('/image_raw', '/head_camera/color/image_raw')
+                ],
                 extra_arguments=[{'use_intra_process_comms': True}]
                 ),
             ComposableNode(
@@ -51,6 +54,9 @@ def generate_launch_description():
                 plugin='sciurus17_examples::NeckJtControl',
                 name='neck_jt_control',
                 namespace='head_camera_tracking',
+                remappings=[
+                    ('/controller_state', '/neck_controller/controller_state')
+                ],
                 extra_arguments=[{'use_intra_process_comms': True}]
                 ),
         ],

diff --git a/sciurus17_examples/src/color_detection.cpp b/sciurus17_examples/src/color_detection.cpp
@@ -31,7 +31,7 @@ ColorDetection::ColorDetection(const rclcpp::NodeOptions & options)
 : Node("color_detection", options)
 {
   image_subscription_ = this->create_subscription<sensor_msgs::msg::Image>(
-    "/head_camera/color/image_raw", 10, std::bind(&ColorDetection::image_callback, this, _1));
+    "/image_raw", 10, std::bind(&ColorDetection::image_callback, this, _1));
 
   image_thresholded_publisher_ =
     this->create_publisher<sensor_msgs::msg::Image>("image_thresholded", 10);

diff --git a/sciurus17_examples/src/object_tracker.cpp b/sciurus17_examples/src/object_tracker.cpp
@@ -35,7 +35,7 @@ ObjectTracker::ObjectTracker(const rclcpp::NodeOptions & options)
 
   state_subscription_ =
     this->create_subscription<control_msgs::msg::JointTrajectoryControllerState>(
-    "/neck_controller/controller_state", 10, std::bind(&ObjectTracker::state_callback, this, _1));
+    "/controller_state", 10, std::bind(&ObjectTracker::state_callback, this, _1));
 
   object_point_subscription_ = this->create_subscription<geometry_msgs::msg::PointStamped>(
     "target_position", 10, std::bind(&ObjectTracker::point_callback, this, _1));