Modify topic for label_info in segmentation_camera

lge-ros2 · Mar 8, 2024 · 16f7080 · 16f7080
1 parent e186e5d
commit 16f7080
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Showing 3 changed files with 6 additions and 4 deletions.
diff --git a/cloisim_ros_camera/include/cloisim_ros_camera/camera_base.hpp b/cloisim_ros_camera/include/cloisim_ros_camera/camera_base.hpp
@@ -49,6 +49,7 @@ class CameraBase : public Base
 
  protected:
   std::string frame_id_;
+  std::string topic_base_name_;
 
   // image buffer from simulator
   cloisim::msgs::ImageStamped pb_img_;

diff --git a/cloisim_ros_camera/src/camera_base.cpp b/cloisim_ros_camera/src/camera_base.cpp
@@ -30,7 +30,9 @@ CameraBase::CameraBase(
     const string namespace_)
     : Base(node_name, namespace_, options_)
     , frame_id_("camera_link")
+    , topic_base_name_("")
 {
+  topic_name_ = "camera";
   // DBG_SIM_INFO("CameraBase");
 }
 
@@ -85,11 +87,9 @@ void CameraBase::InitializeCameraInfo()
 
 void CameraBase::InitializeCameraPublish()
 {
-  topic_name_ = "camera";
-
   msg_img_.header.frame_id = frame_id_;
 
-  const auto topic_base_name_ = GetPartsName() + "/" + topic_name_;
+  topic_base_name_ = GetPartsName() + "/" + topic_name_;
 
   image_transport::ImageTransport it(GetNode());
   pub_ = it.advertiseCamera(topic_base_name_ + "/image_raw", 1);

diff --git a/cloisim_ros_camera/src/segmentation_camera.cpp b/cloisim_ros_camera/src/segmentation_camera.cpp
@@ -54,7 +54,8 @@ void SegmentationCamera::InitializeCameraData()
     AddPublisherThread(data_bridge_ptr, bind(&SegmentationCamera::PublishData, this, std::placeholders::_1));
   }
 
-  pub_labelinfo_ = create_publisher<vision_msgs::msg::LabelInfo>("label_info", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
+  pub_labelinfo_ = create_publisher<vision_msgs::msg::LabelInfo>(
+      topic_base_name_ + "/label_info", rclcpp::QoS(rclcpp::KeepLast(1)).transient_local());
 
   DBG_SIM_INFO("%s hashKey: data(%s)", typeid(this).name(), hashKeyData.c_str());
 }