fixed issue iralabdisco#5

shannon112 · Sep 13, 2019 · f65d04a · f65d04a
1 parent 751d310
commit f65d04a
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Showing 2 changed files with 13 additions and 15 deletions.
diff --git a/launch/laserscan_multi_merger.launch b/launch/laserscan_multi_merger.launch
@@ -1,13 +1,11 @@
 <!--
 DESCRITPION
 -->
-
-
 <launch>
-        <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
-		<param name="destination_frame" value="/cart_frame"/>
+  <node pkg="ira_laser_tools" name="laserscan_multi_merger" type="laserscan_multi_merger" output="screen">
+		<param name="destination_frame" value="/base_link"/>
 		<param name="cloud_destination_topic" value="/merged_cloud"/>
 		<param name="scan_destination_topic" value="/scan_multi"/>
-                <param name="laserscan_topics" value ="scandx scansx" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE -->
+    <param name="laserscan_topics" value ="/front_scan /back_scan" /> <!-- LIST OF THE LASER SCAN TOPICS TO SUBSCRIBE -->
 	</node>
 </launch>
diff --git a/src/laserscan_multi_merger.cpp b/src/laserscan_multi_merger.cpp
@@ -9,7 +9,7 @@
 #include <pcl/io/pcd_io.h>
 #include <sensor_msgs/PointCloud.h>
 #include <sensor_msgs/PointCloud2.h>
-#include <sensor_msgs/point_cloud_conversion.h> 
+#include <sensor_msgs/point_cloud_conversion.h>
 #include "sensor_msgs/LaserScan.h"
 #include "pcl_ros/point_cloud.h"
 #include <Eigen/Dense>
@@ -82,13 +82,13 @@ void LaserscanMerger::laserscan_topic_parser()
 
 	for(int i=0;i<tokens.size();++i)
 	{
-	        for(int j=0;j<topics.size();++j)
-		{
-			if( (tokens[i].compare(topics[j].name) == 0) && (topics[j].datatype.compare("sensor_msgs/LaserScan") == 0) )
-			{
-				tmp_input_topics.push_back(topics[j].name);
-			}
-		}
+//	        for(int j=0;j<topics.size();++j)
+//		{
+//			if( (tokens[i].compare(topics[j].name) == 0) && (topics[j].datatype.compare("sensor_msgs/LaserScan") == 0) )
+//			{
+                tmp_input_topics.push_back(tokens[i]);
+//			}
+//		}
 	}
 
 	sort(tmp_input_topics.begin(),tmp_input_topics.end());
@@ -162,7 +162,7 @@ void LaserscanMerger::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan,
 			pcl_conversions::toPCL(tmpCloud3, clouds[i]);
 			clouds_modified[i] = true;
 		}
-	}	
+	}
 
     // Count how many scans we have
 	int totalClouds = 0;
@@ -181,7 +181,7 @@ void LaserscanMerger::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan,
 			pcl::concatenatePointCloud(merged_cloud, clouds[i], merged_cloud);
 			clouds_modified[i] = false;
 		}
-	
+
 		point_cloud_publisher_.publish(merged_cloud);
 
 		Eigen::MatrixXf points;