multisensor support #10
Conversation
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Thanks for the contribution, I'll try to take some time later today to test and review it. |
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Sorry, I haven't had time, it might be next week until I get to look at it. |
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It's OK. |
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So by next week I meant next year, but hey better later than never 😄. So I've done a read through of the diff and it looks ok. One note is that it was really hard to review since it is so big and mixes a lot stylistic changes with actual changes. I understand the want to fix up the style of the code, just next time try to do it in different commits so I can get to the substantive changes. Since this is a fairly large change I'd like to give a spin myself, do you happen to have a world file which can showcase this feature relatively easily? Thanks again for the contribution, sorry it took so long for me to get back to it. |
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Happy new year! 😄 Sorry for the stylistic changes, I have the bad habit of typing the auto-indent shortcut frequently while coding. |
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Cool the demo seems to work for me. Thanks for the contribution and sorry again for the time it took for me to field this. |
I have added support for having multiple sensors (camera and laser scan) per robot.
The names of the topics of the devices and the frame are numerated to make them unique.
Here is an example of the list of topics with two robots with two laser scans and two cameras each.
pablo@xidri:~$ rostopic list
/clock
/robot_0/base_pose_ground_truth
/robot_0/base_scan_0
/robot_0/base_scan_1
/robot_0/camera_info_0
/robot_0/camera_info_1
/robot_0/cmd_vel
/robot_0/depth_0
/robot_0/depth_1
/robot_0/image_0
/robot_0/image_1
/robot_0/odom
/robot_1/base_pose_ground_truth
/robot_1/base_scan_0
/robot_1/base_scan_1
/robot_1/camera_info_0
/robot_1/camera_info_1
/robot_1/cmd_vel
/robot_1/depth_0
/robot_1/depth_1
/robot_1/image_0
/robot_1/image_1
/robot_1/odom