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Hotfix/add missing source value #35

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Hotfix/add missing source value #35

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6efd0b8
Fix typo
MikhailBertrand Aug 23, 2024
3e4b4a3
Add missing source value when publishing obstacles detected by oakd
MikhailBertrand Aug 23, 2024
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4 changes: 2 additions & 2 deletions rmf_human_detector_oakd/launch/human_detector.launch.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -3,10 +3,10 @@
<launch>
<arg name="blob_path" default="" description="The absolute filepath to the NN blob"/>
<arg name="sync_nn" default="True" description="Whether to sync the depth and preview frames before making inference"/>
<arg name="detector_name" default="rmf_human_detector_oakd" description="The name given to this detector"/>
<arg name="detector_name" default="rmf_human_detector_oakd" description="The name given to this detector, used for obstacle topic's source value"/>
<arg name="frame_id" default="oakd_camera_link" description="The frame ID for the camera"/>
<arg name="level_name" default="L1" description="The level or map on which the camera is located"/>
<arg name="obstacle_classification" default="human" description="The classificaation to be used to report human obstacles"/>
<arg name="obstacle_classification" default="human" description="The classification to be used to report human obstacles"/>
<arg name="debug" default="false" description="If True, the detection results will be visualized"/>
<arg name="rmf_frame_id" default="map" description="The frame_id w.r.t which RMF coordinates are defined"/>
<arg name="x" default="0" description="x translation between RMF and camera frames"/>
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4 changes: 2 additions & 2 deletions rmf_human_detector_oakd/src/HumanDetector.cpp
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Expand Up @@ -38,7 +38,7 @@ HumanDetector::HumanDetector(
"/rmf_obstacles",
10);

// Declare prameters
// Declare parameters
RCLCPP_INFO(
this->get_logger(),
"Configuring rmf_human_detector_oakd...");
Expand Down Expand Up @@ -270,7 +270,7 @@ HumanDetector::HumanDetector(
obstacle.header.frame_id = data->frame_id;
// TODO(YV): Stamp
obstacle.id = obstacle_count;
obstacle.id = obstacle_count;
obstacle.source = data->detector_name;
obstacle.level_name = data->level_name;
obstacle.classification = data->obstacle_classification;
obstacle.bbox.center.position.x = spatial_x;
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