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Trim the starting slash from frame_id #86

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Trim the starting slash from frame_id #86

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845b338
Trim the starting slash from frame_id
furushchev Apr 26, 2024
d77a3a4
Fix search private namespace
furushchev Apr 26, 2024
c86adb8
Fix launch file to use private namespace
furushchev Apr 26, 2024
507c3d1
Merge pull request #2 from furushchev/get-private-param
furushchev Apr 26, 2024
399b2c0
Merge branch 'noetic-devel' into fix-tf
furushchev Apr 26, 2024
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31 changes: 17 additions & 14 deletions axis_camera/launch/axis.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -13,6 +13,7 @@
<arg name="width" default="640" />
<arg name="height" default="480" />
<arg name="camera" default="1" />
<arg name="frame_id" default="$(arg camera_name)_camera_link"/>

<arg name="enable_ptz_teleop" default="0" />
<arg name="joy_topic" default="/bluetooth_teleop/joy" />
Expand All @@ -22,21 +23,23 @@
<arg name="fps" default="0" />

<group ns="$(arg camera_name)">
<param name="hostname" value="$(arg hostname)" />
<param name="username" value="$(arg username)" />
<param name="password" value="$(arg password)" />
<param name="use_encrypted_password" value="$(arg encrypt_password)" />
<param name="width" value="$(arg width)" />
<param name="height" value="$(arg height)" />
<param name="camera" value="$(arg camera)" />
<param name="frame_id" value="$(arg camera_name)_camera_link" />
<param name="wiper" value="$(arg enable_wiper)" />
<param name="defog" value="$(arg enable_defog)" />
<param name="ir" value="$(arg enable_ir)" />
<param name="fps" value="$(arg fps)" />
<param name="ptz" value="$(arg enable_ptz)" />

<node pkg="axis_camera" type="axis_camera_node" name="axis" />
<node pkg="axis_camera" type="axis_camera_node" name="axis">
<rosparam subst_value="true">
hostname: '$(arg hostname)'
username: '$(arg username)'
password: '$(arg password)'
use_encrypted_password: $(arg encrypt_password)
width: $(arg width)
height: $(arg height)
camera: $(arg camera)
frame_id: '$(arg frame_id)'
wiper: $(arg enable_wiper)
defog: $(arg enable_defog)
fps: $(arg fps)
ptz: $(arg enable_ptz)
</rosparam>
</node>

<node pkg="image_transport" type="republish" name="republish"
args="compressed theora" if="$(arg enable_theora)">
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21 changes: 8 additions & 13 deletions axis_camera/nodes/axis_camera_node
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Original file line number Diff line number Diff line change
Expand Up @@ -13,20 +13,15 @@ def updateArgs(arg_defaults):
'''
args = {}
for name, val in arg_defaults.items():
full_name = rospy.search_param(name)
if full_name is None:
args[name] = val
if rospy.has_param('~' + name):
args[name] = rospy.get_param('~' + name)
else:
args[name] = rospy.get_param(full_name, val)
# resolve frame_id with tf_prefix (unless already absolute)
if args['frame_id'][0] != '/': # not absolute?
tf_prefix = rospy.search_param('tf_prefix')
prefix_val = ''
if tf_prefix is not None: # prefix defined?
prefix_val = rospy.get_param(tf_prefix)
if prefix_val[0] != '/': # prefix not absolute?
prefix_val = '/' + prefix_val
args['frame_id'] = prefix_val + '/' + args['frame_id']
args[name] = rospy.get_param(name, val)
# resolve frame_id with tf_prefix
args['frame_id'] = args['frame_id'].lstrip('/')
tf_prefix = rospy.get_param('tf_prefix', '').lstrip('/')
if tf_prefix:
args['frame_id'] = tf_prefix + '/' + args['frame_id']
return(args)


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