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Add support for multiple frame prefixes #126

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Add support for multiple frame prefixes #126

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5b9dd3a
Added frame_prefix to parameters
DavidWatkins Mar 23, 2017
b46763e
Fixed bug where param was not being properly retrieved
DavidWatkins Mar 23, 2017
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14 changes: 12 additions & 2 deletions nodes/IndividualMarkers.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -83,6 +83,7 @@ double max_track_error;
std::string cam_image_topic;
std::string cam_info_topic;
std::string output_frame;
std::string frame_prefix;
int marker_resolution = 5; // default marker resolution
int marker_margin = 2; // default marker margin

Expand Down Expand Up @@ -392,7 +393,7 @@ void getPointCloudCallback (const sensor_msgs::PointCloud2ConstPtr &msg)
tf::Transform markerPose = t * m; // marker pose in the camera frame

//Publish the transform from the camera to the marker
std::string markerFrame = "ar_marker_";
std::string markerFrame = frame_prefix + "ar_marker_";
std::stringstream out;
out << id;
std::string id_string = out.str();
Expand Down Expand Up @@ -521,6 +522,8 @@ int main(int argc, char *argv[])
marker_resolution = atoi(argv[8]);
if (argc > 9)
marker_margin = atoi(argv[9]);
if (argc > 10)
frame_prefix = argv[10];

} else {
// Get params from ros param server.
Expand All @@ -544,6 +547,13 @@ int main(int argc, char *argv[])
cam_info_topic = "camera_info";
}

if(frame_prefix == "" && pn.param("frame_prefix", frame_prefix) == "") {
ROS_ERROR("Param 'frame_prefix' has to be set to prevent ar conflicts");
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Why enforcing the prefix?

Many people use only one camera.

exit(EXIT_FAILURE);
} else {
ROS_INFO("frame_prefix is '%s'", frame_prefix.c_str());
}

// Set dynamically configurable parameters so they don't get replaced by default values
pn.setParam("marker_size", marker_size);
pn.setParam("max_new_marker_error", max_new_marker_error);
Expand Down Expand Up @@ -577,7 +587,7 @@ int main(int argc, char *argv[])
if (enabled == true)
{
// This always happens, as enable is true by default
ROS_INFO("Subscribing to image topic");
ROS_INFO("Subscribing to image topic: %s", cam_image_topic.c_str());
cloud_sub_ = n.subscribe(cam_image_topic, 1, &getPointCloudCallback);
}

Expand Down