Merge pull request #4 from k-okada/use_param_for_camera_info_yaml

use param to set camera_info
longjie · Jan 5, 2015 · 9554cfd · 9554cfd
2 parents a5f8f25 + d16370d
commit 9554cfd
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Showing 2 changed files with 8 additions and 3 deletions.
diff --git a/launch/stereo.launch b/launch/stereo.launch
@@ -61,6 +61,9 @@
   </node>  
   <node name="camera_transform" pkg="tf" type="static_transform_publisher" args="$(arg parent_transform) $(arg parent_frame) /ps4eye_frame 10"/>
 
-  <node pkg="ps4eye" type="camera_info_publisher.py" name="camera_info_publisher" />
+  <node pkg="ps4eye" type="camera_info_publisher.py" name="camera_info_publisher" >
+    <param name="left_file_name"  value="$(find ps4eye)/camera_info/left.yaml" />
+    <param name="right_file_name" value="$(find ps4eye)/camera_info/right.yaml" />
+  </node>
   <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" ns="stereo"/>
 </launch>
diff --git a/script/camera_info_publisher.py b/script/camera_info_publisher.py
@@ -18,11 +18,13 @@ def callback(self, data):
         self.right_cam_info.header = left_cam_info_org.header
         publisher.publish()
 
-    def __init__(self, camera_name, left_file_name, right_file_name): 
+    def __init__(self, camera_name):
         self.left_cam_info_org = 0
         self.right_cam_info_org = 0
 
         # yamlファイルを読み込んでCameraInfoを返す
+        left_file_name  = rospy.get_param('~left_file_name',  rospack.get_path('ps4eye')+'/camera_info/left.yaml')
+        right_file_name = rospy.get_param('~right_file_name', rospack.get_path('ps4eye')+'/camera_info/right.yaml')
         self.left_cam_info = parse_yaml(left_file_name)
         self.right_cam_info = parse_yaml(right_file_name)
         left_topic = "/" + camera_name + "/left/camera_info"
@@ -68,7 +70,7 @@ def parse_yaml(filename):
     argv = rospy.myargv(sys.argv)
     rospy.init_node("camera_info_publisher")
     rospack = rospkg.RosPack()
-    publisher = CameraInfoPublisher('stereo', rospack.get_path('ps4eye')+'/camera_info/left.yaml',rospack.get_path('ps4eye')+'/camera_info/right.yaml')
+    publisher = CameraInfoPublisher('stereo')
 
     while not rospy.is_shutdown():
         rospy.sleep(rospy.Duration(.1))