Commit 7c7aa217 authored by Projekt Robbie's avatar Projekt Robbie
Browse files

fix parameter name

parent ed06cd19
......@@ -37,8 +37,6 @@ depth_occupancy_map::depth_occupancy_map(ros::NodeHandle* nh):
m_depthSubscribed = false;
ros::param::get("/rgbd_node/points_topic", m_depth_topic);
ROS_INFO_STREAM("[depth_occupancy_map] points topic: " << m_depth_topic);
ros::param::param("/depth_occupancy_map/distance_offset", m_distance_offset, 0.15);
ROS_INFO_STREAM("[depth_occupancy_map] distance offset: " << m_distance_offset);
m_timer.start();
}
......@@ -224,6 +222,8 @@ void depth_occupancy_map::updateDepthData(const sensor_msgs::PointCloud2::ConstP
min_obstacle_distance = std::sqrt( min_obstacle_distance );
m_distance_offset = 0.15;
ros::param::getCached("/depth_mapping/distance_offset", m_distance_offset);
min_obstacle_distance -= m_distance_offset;
if( min_obstacle_distance < 0 )
min_obstacle_distance = 0.0;
......
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