[execute_trajectory] Set odometry topic from launch file

robotics-88 · Mar 21, 2023 · ba3e013 · ba3e013
1 parent 7d00eb6
commit ba3e013
Show file tree

Hide file tree

Showing 2 changed files with 3 additions and 1 deletion.
diff --git a/launch/execute_trajectory.launch b/launch/execute_trajectory.launch
@@ -1,12 +1,14 @@
 <launch>
   <arg name="rate" default="10" />
   <arg name="namespace" default="$(env UAV_NAMESPACE)" />
+  <arg name="odometry" default="odometry"/>
 
   <group ns="$(arg namespace)">
     <node name="execute_trajectory" pkg="uav_frontier_exploration_3d" 
       type="execute_trajectory_state_machine.py" output="screen" />
       <param name="radius_trajectory_executed" value="0.7"/>
       <param name="feedback_collection_time" value="1.0"/>
       <param name="rate" value="$(arg rate)"/>
+      <remap from="odometry" to="$(arg odometry)"/>
   </group>
 </launch>
diff --git a/scripts/execute_trajectory_state_machine.py b/scripts/execute_trajectory_state_machine.py
@@ -69,7 +69,7 @@ def __init__(self):
       self.targetPointCallback, queue_size=1)
     rospy.Subscriber('carrot/trajectory', MultiDOFJointTrajectoryPoint,
       self.referenceCallback, queue_size=1)
-    rospy.Subscriber('uav/cartographer/odometry_filtered_acc', Odometry, 
+    rospy.Subscriber('odometry', Odometry, 
       self.globalPositionCallback, queue_size=1)
     rospy.Subscriber('executing_trajectory', Int32, 
       self.executingTrajectoryCallback, queue_size=1)