Fix nodelets

leggedrobotics · Jan 15, 2024 · a55944f · a55944f
1 parent 0918b4f
commit a55944f
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Showing 5 changed files with 7 additions and 7 deletions.
diff --git a/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml b/wild_visual_navigation_ros/config/wild_visual_navigation/default.yaml
@@ -57,7 +57,7 @@ print_image_callback_time: false
 print_proprio_callback_time: false
 log_time: false
 log_confidence: false
-verbose: true
+verbose: false
 debug_supervision_node_index_from_last: 10
 use_debug_for_desired: false
 

diff --git a/wild_visual_navigation_ros/launch/resize_images_hdr.launch b/wild_visual_navigation_ros/launch/resize_images_hdr.launch
@@ -1,7 +1,7 @@
 <launch>
   <!-- Launch the image_proc nodelet -->
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
-  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_hdr" args="load image_proc/resize standalone_nodelet">
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet_hdr" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_hdr" args="load image_proc/resize standalone_nodelet_hdr">
     <remap from="camera_info" to="/hdr_camera/camera_info" />
     <remap from="~camera_info" to="/hdr_camera_resize/camera_info" />
     <remap from="image" to="/hdr_camera/image_color" />

diff --git a/wild_visual_navigation_ros/launch/resize_images_wide_angle_front.launch b/wild_visual_navigation_ros/launch/resize_images_wide_angle_front.launch
@@ -1,7 +1,7 @@
 <launch>
   <!-- Launch the image_proc nodelet -->
-  <node pkg="nodelet" type="nodelet" name="standalone_nodelet" args="manager"/>
-  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_wide_angle_front" args="load image_proc/resize standalone_nodelet">
+  <node pkg="nodelet" type="nodelet" name="standalone_nodelet_wide_angle_front" args="manager"/>
+  <node pkg="nodelet" type="nodelet" name="image_proc_nodelet_wide_angle_front" args="load image_proc/resize standalone_nodelet_wide_angle_front">
     <remap from="camera_info" to="/wide_angle_camera_front/camera_info" />
     <remap from="~camera_info" to="/wide_angle_camera_front_resize/camera_info" />
     <remap from="image" to="/wide_angle_camera_front/image_color" />

diff --git a/wild_visual_navigation_ros/launch/wild_visual_navigation.launch b/wild_visual_navigation_ros/launch/wild_visual_navigation.launch
@@ -5,7 +5,7 @@
   <arg name="params_file"       default="$(find wild_visual_navigation_ros)/config/wild_visual_navigation/default.yaml"/>
   <arg name="overlay_images"    default="True"/>
   <arg name="resize_images_alphasense"     default="False"/>
-  <arg name="resize_images_wide_angle_front"     default="True"/>
+  <arg name="resize_images_wide_angle_front"     default="False"/>
   <arg name="resize_images_hdr"     default="True"/>
   <arg name="reload_default_params"    default="False"/>
 

diff --git a/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py b/wild_visual_navigation_ros/scripts/wvn_feature_extractor_node.py
@@ -416,6 +416,6 @@ def load_model(self):
         )
         print(
             f"rosparam load {wvn_path}/config/wild_visual_navigation/inputs/hdr_compressed.yaml wvn_feature_extractor_node"
-
+        )
     wvn = WvnFeatureExtractor()
     rospy.spin()