remove unncessary slashes, reduce default speed

PX4 · Aug 25, 2020 · 05f53b9 · 05f53b9
1 parent 64331f1
commit 05f53b9
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Showing 4 changed files with 4 additions and 4 deletions.
diff --git a/global_planner/launch/global_planner_depth-camera.launch b/global_planner/launch/global_planner_depth-camera.launch
@@ -24,7 +24,7 @@
     <!-- Global planner -->
     <include file="$(find global_planner)/launch/global_planner_octomap.launch" >
         <arg name="pointcloud_topics" value="$(arg pointcloud_topics)" />
-        <arg name="camera_frame_id" value="/$(arg camera_frame_id)" />
+        <arg name="camera_frame_id" value="$(arg camera_frame_id)" />
         <arg name="start_pos_x" value="$(arg start_pos_x)" />
         <arg name="start_pos_y" value="$(arg start_pos_y)" />
         <arg name="start_pos_z" value="$(arg start_pos_z)" />

diff --git a/global_planner/launch/global_planner_octomap.launch b/global_planner/launch/global_planner_octomap.launch
@@ -12,7 +12,7 @@
     <node name="global_planner_node" pkg="global_planner" type="global_planner_node" output="screen"
           args="$(find global_planner)/resource/random_goals"  >
         <param name="frame_id" type="string" value="$(arg frame_id)" />
-        <param name="camera_frame_id" type="string" value="$(arg camera_frame_id)" />
+        <param name="camera_frame_id" type="string" value="/$(arg camera_frame_id)" />
         <param name="start_pos_x" value="$(arg start_pos_x)" />
         <param name="start_pos_y" value="$(arg start_pos_y)" />
         <param name="start_pos_z" value="$(arg start_pos_z)" />

diff --git a/global_planner/launch/global_planner_sitl_3cam.launch b/global_planner/launch/global_planner_sitl_3cam.launch
@@ -30,7 +30,7 @@
         <arg name="start_pos_y" value="$(arg start_pos_y)" />
         <arg name="start_pos_z" value="$(arg start_pos_z)" />
         <arg name="pointcloud_topics" value="$(arg pointcloud_topics)"/>
-        <arg name="camera_frame_id" value="/$(arg camera_frame_id)" />
+        <arg name="camera_frame_id" value="$(arg camera_frame_id)" />
     </include>
 
     <!-- RViz -->

diff --git a/global_planner/src/nodes/global_planner_node.cpp b/global_planner/src/nodes/global_planner_node.cpp
@@ -65,7 +65,7 @@ GlobalPlannerNode::GlobalPlannerNode(const ros::NodeHandle& nh, const ros::NodeH
   current_goal_.pose.orientation = tf::createQuaternionMsgFromYaw(start_yaw_);
   last_goal_ = current_goal_;
 
-  speed_ = 5.0;
+  speed_ = 2.0;
 
   start_time_ = ros::Time::now();
 }