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Updating _camera_name with RS node's name #2872

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merged 2 commits into from
Sep 27, 2023
Merged

Updating _camera_name with RS node's name #2872

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b958ca1
getting camera_name dynamically in ROS2 wrapper
Arun-Prasad-V Sep 11, 2023
1cd8f27
Merge branch 'ros2-development' into camera_name
Arun-Prasad-V Sep 27, 2023
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3 changes: 3 additions & 0 deletions realsense2_camera/src/base_realsense_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -121,6 +121,9 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
ROS_INFO("Intra-Process communication enabled");
}

// Get node name
_camera_name = _node.get_name();

initializeFormatsMaps();
_monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE};
}
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3 changes: 0 additions & 3 deletions realsense2_camera/src/parameters.cpp
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Expand Up @@ -23,9 +23,6 @@ void BaseRealSenseNode::getParameters()
ROS_INFO("getParameters...");

std::string param_name;
param_name = std::string("camera_name");
_camera_name = _parameters->setParam<std::string>(param_name, "camera");
_parameters_names.push_back(param_name);

param_name = std::string("publish_tf");
_publish_tf = _parameters->setParam<bool>(param_name, PUBLISH_TF);
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