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Match realsense depth topic name

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This commit is contained in:
Michel Breyer 2021-09-11 21:02:14 +02:00
parent 65bdb5422d
commit 8d3f2c1a1a
2 changed files with 3 additions and 3 deletions
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4
cfg/active_grasp.yaml
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@ -1,6 +1,6 @@
bt_sim: bt_sim:
gui: True gui: True
cam_noise: True cam_noise: False
scene: test1.yaml scene: test1.yaml
grasp_controller: grasp_controller:
@ -12,7 +12,7 @@ grasp_controller:
camera: camera:
frame_id: camera_depth_optical_frame frame_id: camera_depth_optical_frame
info_topic: /camera/depth/camera_info info_topic: /camera/depth/camera_info
depth_topic: /camera/depth/image_raw depth_topic: /camera/depth/image_rect_raw
min_z_dist: 0.3 min_z_dist: 0.3
vgn: vgn:

2
scripts/bt_sim_node.py
View File

@ -297,7 +297,7 @@ class CameraPlugin(Plugin):
def init_publishers(self): def init_publishers(self):
topic = self.name + "/depth/camera_info" topic = self.name + "/depth/camera_info"
self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10) self.info_pub = rospy.Publisher(topic, CameraInfo, queue_size=10)
topic = self.name + "/depth/image_raw" topic = self.name + "/depth/image_rect_raw"
self.depth_pub = rospy.Publisher(topic, Image, queue_size=10) self.depth_pub = rospy.Publisher(topic, Image, queue_size=10)
def update(self): def update(self):