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feat(ros): rosparam realtime config effect.

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This commit is contained in:
TinyO 2019-09-19 09:18:54 +08:00
parent 7114e4b807
commit f1b6ec9e04
1 changed files with 6 additions and 7 deletions
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13
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -201,13 +201,6 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
pthread_mutex_init(&mutex_data_, nullptr);
private_nh_.getParamCached("model_rotation_x",
mesh_rotation_x);
private_nh_.getParamCached("model_rotation_y",
mesh_rotation_y);
private_nh_.getParamCached("model_rotation_z",
mesh_rotation_z);
// node params
std::map<Stream, std::string> stream_names{
@ -1283,6 +1276,12 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
mesh_msg_.header.stamp = ros::Time::now();
mesh_msg_.type = visualization_msgs::Marker::MESH_RESOURCE;
geometry_msgs::Quaternion q;
private_nh_.getParamCached("model_rotation_x",
mesh_rotation_x);
private_nh_.getParamCached("model_rotation_y",
mesh_rotation_y);
private_nh_.getParamCached("model_rotation_z",
mesh_rotation_z);
q = tf::createQuaternionMsgFromRollPitchYaw(
mesh_rotation_x,