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Latch visualization topics

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This commit is contained in:
Michel Breyer 2021-08-18 09:58:03 +02:00
parent 2614a9e9af
commit a55b02b9ed
1 changed files with 12 additions and 2 deletions
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14
active_grasp/visualization.py
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@ -13,8 +13,18 @@ cmap = matplotlib.colors.LinearSegmentedColormap.from_list("RedGreen", ["r", "g"
class Visualizer: class Visualizer:
def __init__(self, topic="visualization_marker_array"): def __init__(self, topic="visualization_marker_array"):
self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1) self.marker_pub = rospy.Publisher(topic, MarkerArray, queue_size=1)
self.scene_cloud_pub = rospy.Publisher("scene_cloud", PointCloud2, queue_size=1) self.scene_cloud_pub = rospy.Publisher(
self.map_cloud_pub = rospy.Publisher("map_cloud", PointCloud2, queue_size=1) "scene_cloud",
PointCloud2,
latch=True,
queue_size=1,
)
self.map_cloud_pub = rospy.Publisher(
"map_cloud",
PointCloud2,
latch=True,
queue_size=1,
)
self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1) self.quality_pub = rospy.Publisher("quality", PointCloud2, queue_size=1)
def clear(self): def clear(self):