Merge pull request #188 from Patenro/3Dvisualupdate

added the z cordinates
LCAS · Jul 17, 2024 · 6206e9f · 6206e9f
2 parents d2bfc7d + 406c912
commit 6206e9f
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/topological_navigation/setup.py b/topological_navigation/setup.py
@@ -12,7 +12,8 @@
         ('share/ament_index/resource_index/packages',
             ['resource/' + package_name]),
         ('share/' + package_name, ['package.xml']),
-        ('share/' + package_name + '/config/', glob('config/*', recursive=True))
+        ('share/' + package_name + '/config/', glob('config/*', recursive=True)),
+        ('share/' + package_name + '/launch/', glob('launch/*', recursive=True))
     ],
     install_requires=['setuptools'],
     zip_safe=True,

diff --git a/topological_navigation/topological_navigation/topomap_marker2.py b/topological_navigation/topological_navigation/topomap_marker2.py
@@ -183,13 +183,13 @@ def get_zone_marker(self, node):
 
         for j in node['node']['verts']:
             vert = Point()
-            vert.z = 0.05
+            vert.z = node['node']['pose']['position']['z'] 
             vert.x = node['node']['pose']['position']['x'] + j['x']
             vert.y = node['node']['pose']['position']['y'] + j['y']
             marker.points.append(vert)
 
         vert = Point()
-        vert.z = 0.05
+        vert.z = node['node']['pose']['position']['z']
         vert.x = node['node']['pose']['position']['x'] + node['node']['verts'][0]['x']
         vert.y = node['node']['pose']['position']['y'] + node['node']['verts'][0]['y']
         marker.points.append(vert)