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ros2 / ros_astra_camera

ROS wrapper for Astra camera
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Depth registration settable by param #16

Closed Kukanani closed 7 years ago

Kukanani commented 7 years ago

Setting the depth_registration param on the Astra's private node handle will now be respected. The default behavior remains the same (depth_registration_ = false). At some point we should do the rest of the params, but this is the only one for which there is a current need.

example usage:

  rclcpp::node::Node::SharedPtr astra_node =
      rclcpp::node::Node::make_shared("astra_camera");
  rclcpp::node::Node::SharedPtr astra_private_node =
      rclcpp::node::Node::make_shared("astra_camera_");

  astra_private_node->set_parameter_if_not_set("depth_registration", true);

  astra_wrapper::AstraDriver drv(astra_node, astra_private_node,
    rgb_width, rgb_height, framerate,
    depth_width, depth_height, depth_framerate, depth_format);