deleting stack and manifest since that confuses pluginlib quite a bit…

…, removing extra parameters, modifying launch file to listen to correct topics

conf/detection.object.ros.ork

@@ -23,19 +23,16 @@ sink1:
   type: TablePublisher
   module: 'object_recognition_tabletop'
   inputs: [source1]
-  visualize: True
 
 sink2:
   type: Publisher
   module: 'object_recognition_ros.io'
   inputs: [source1]
-  visualize: True
-  publish_clusters: False
+
 
 pipeline1:
   type: TabletopTableDetector
   module: 'object_recognition_tabletop'
-  subtype: ''
   inputs: [source1]
   outputs: [sink1]
   parameters:
@@ -49,7 +46,6 @@ pipeline1:
 pipeline2:
   type: TabletopObjectDetector
   module: 'object_recognition_tabletop'
-  subtype: ''
   inputs: [source1, pipeline1]
   outputs: [sink2]
   parameters:

db_plugin.xml

@@ -1,4 +1,4 @@
-<library path="lib/libtabletop_db">
+<library path="libtabletop_db">
   <class type="ObjectDbSqlHousehold" base_class_type="object_recognition_core::db::ObjectDb">
   <description>
   This is a plugin to wrap the DB used in Tabletop (based on the household DB) in the RViz plugin

launch/tabletop.launch

@@ -6,10 +6,12 @@
 
   <node name="recognize_tabletop_objects_server" launch-prefix="$(arg launch_prefix)" pkg="object_recognition_ros" type="server" respawn="false" output="screen" args="--node_name tabletop_object_recognition -c $(find object_recognition_tabletop)/conf/detection.object.ros.ork">
 
-    <remap from="camera_rgb_camera_info" to="/head_mount_kinect/rgb/camera_info"/>
-    <remap from="camera_rgb_image_rect_color" to="/head_mount_kinect/rgb/image_rect_color"/>
-    <remap from="camera_depth_registered_camera_info" to="/head_mount_kinect/depth_registered/camera_info"/>
-    <remap from="camera_depth_registered_image_rect" to="/head_mount_kinect/depth_registered/image_rect"/>
+    <remap from="/camera/rgb/camera_info" to="/head_mount_kinect/rgb/camera_info"/>
+    <remap from="/camera/rgb/image_rect_color" to="/head_mount_kinect/rgb/image_rect_color"/>
+    <remap from="/camera/rgb/image_color" to="/head_mount_kinect/rgb/image_color"/>
+    <remap from="/camera/depth_registered/camera_info" to="/head_mount_kinect/depth_registered/camera_info"/>
+    <remap from="/camera/depth_registered/image_rect" to="/head_mount_kinect/depth_registered/image_rect"/>
+    <remap from="/camera/depth_registered/image" to="/head_mount_kinect/depth_registered/image"/>
 
   </node>
 

package.xml

@@ -22,6 +22,7 @@
   <build_depend>pcl_ros</build_depend>
   <build_depend>sql_database</build_depend>
   <build_depend>tf</build_depend>
+  <build_depend>pluginlib</build_depend>
 
   <run_depend>ecto</run_depend>
   <run_depend>ecto_pcl</run_depend>
@@ -34,6 +35,7 @@
   <run_depend>pcl_ros</run_depend>
   <run_depend>sql_database</run_depend>
   <run_depend>tf</run_depend>
+  <run_depend>pluginlib</run_depend>
 
   <buildtool_depend>catkin</buildtool_depend>