From a55944fa9ce03eb8d139ff96241028063f8363ae Mon Sep 17 00:00:00 2001
From: RobinSchmid7 <schmirob@student.ethz.ch>
Date: Mon, 15 Jan 2024 14:36:58 +0100
Subject: [PATCH] Fix nodelets

---
 .../config/wild_visual_navigation/default.yaml                | 2 +-
 wild_visual_navigation_ros/launch/resize_images_hdr.launch    | 4 ++--
 .../launch/resize_images_wide_angle_front.launch              | 4 ++--
 .../launch/wild_visual_navigation.launch                      | 2 +-
 .../scripts/wvn_feature_extractor_node.py                     | 2 +-
 5 files changed, 7 insertions(+), 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
index fcd7a6ad..71f65689 100644
--- 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
index 2fee1efb..325759a5 100644
--- 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
index b7b855af..222d2011 100644
--- 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
index 5d679ae7..5a9a1091 100644
--- 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
index 26f0d333..2d0f69f8 100644
--- 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()