How to specify the topic and frame names?

[wiku30]

In the hdl_graph_slam, I can change the topic and frame IDs (to run on data from other lidars) in the launch file. But in this project, I could not see interfaces about such IDs in the launch file.

So how to change the IDs?

[koide3]

Hi @wiku30 ,
You can remap "/velodyne_points" and "/gpsimu_driver/imu_data" topics to use this package with your sensor.

hdl_localization/apps/hdl_localization_nodelet.cpp

Line 50 in 7e1dcdd

imu_sub = mt_nh.subscribe("/gpsimu_driver/imu_data", 256, &HdlLocalizationNodelet::imu_callback, this);

hdl_localization/apps/hdl_localization_nodelet.cpp

Line 52 in 7e1dcdd

points_sub = mt_nh.subscribe("/velodyne_points", 5, &HdlLocalizationNodelet::points_callback, this);

Maybe this packages should have more documentation so that users can tell how they can use it without taking look at the code... I'll put more information in README.

[wiku30]

Thanks!