From 1c72d90e9a976911213468f57d309367ba032338 Mon Sep 17 00:00:00 2001
From: Unknown <antoine.harle@etu.upmc.fr>
Date: Fri, 10 Aug 2018 11:48:56 +0200
Subject: [PATCH] =?UTF-8?q?Ajout=20acc=C3=A8s=20objet=20depuis=20launch=20?=
 =?UTF-8?q?file=20(plannar=20seg)?=
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---
 pcl_tests/src/plannar_segmentation.cpp                |  2 +-
 .../launch/interface_plannar_seg.launch               |  6 ++++++
 .../launch/interface_plannar_seg.launch~              | 11 +++++++++++
 rviz_interface/rviz_interface/src/RvizInterface.cpp   |  2 +-
 4 files changed, 19 insertions(+), 2 deletions(-)
 create mode 100644 rviz_interface/rviz_interface/launch/interface_plannar_seg.launch~

diff --git a/pcl_tests/src/plannar_segmentation.cpp b/pcl_tests/src/plannar_segmentation.cpp
index c0291ef..35b64bf 100644
--- a/pcl_tests/src/plannar_segmentation.cpp
+++ b/pcl_tests/src/plannar_segmentation.cpp
@@ -134,7 +134,7 @@ int main (int argc, char** argv)
   // Create a ROS publisher for the output point cloud
   pub = nh.advertise<sensor_msgs::PointCloud2> ("/plane_output", 1);
   // pubc = nh.advertise<geometry_msgs::PointStamped> ("/object_center", 1);
-  pubc = nh.advertise<rviz_interface::NamedPoint> ("/object_center", 1);
+  pubc = nh.advertise<rviz_interface::NamedPoint> ("/RvizInterface/object_center", 1);
 
   // printinfo();
   // Spin
diff --git a/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch b/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch
index 185e28c..ee884f3 100644
--- a/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch
+++ b/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch
@@ -1,5 +1,11 @@
 <launch>
 	<node name="rviz" pkg="rviz" type="rviz"/>
+	
+	<!--Interface/-->
+	<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
+	<rosparam param="tracked_object_types"> [0]</rosparam>
 	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
+
+	
 	<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>
 </launch>
diff --git a/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch~ b/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch~
new file mode 100644
index 0000000..ee884f3
--- /dev/null
+++ b/rviz_interface/rviz_interface/launch/interface_plannar_seg.launch~
@@ -0,0 +1,11 @@
+<launch>
+	<node name="rviz" pkg="rviz" type="rviz"/>
+	
+	<!--Interface/-->
+	<rosparam param="tracked_object_names"> ["6DOF"]</rosparam>
+	<rosparam param="tracked_object_types"> [0]</rosparam>
+	<node name="RvizInterface" pkg="rviz_interface" type="RvizInterface"/>
+
+	
+	<node name="plannar_seg" pkg="pcl_tests" type="plannar_seg"/>
+</launch>
diff --git a/rviz_interface/rviz_interface/src/RvizInterface.cpp b/rviz_interface/rviz_interface/src/RvizInterface.cpp
index 6222664..15cfa2f 100644
--- a/rviz_interface/rviz_interface/src/RvizInterface.cpp
+++ b/rviz_interface/rviz_interface/src/RvizInterface.cpp
@@ -18,7 +18,7 @@ RvizInterface::RvizInterface(): _server("RvizInterface")
 	_n.param<std::string>("objective_topic", objective_topic,"/RvizInterface/state_objective");
 	_n.param<std::string>("vizualization_topic", vizualization_topic,"/RvizInterface/visual_marker");
 	_n.param<std::string>("config_topic", config_topic,"/RvizInterface/interface_config");
-	_n.param<std::string>("object_center_topic", position_topic,"/ASIFT_matcher/object_center");
+	_n.param<std::string>("object_center_topic", position_topic,"/RvizInterface/object_center");
 
 	//Topic you want to publish
 	_objective_pub = _n.advertise<rviz_interface::StateSpace>(objective_topic, 10);