From 406c9121c6e419c08c3c6261afd55655f4c8d647 Mon Sep 17 00:00:00 2001 From: Patenro Date: Wed, 17 Jul 2024 16:49:31 +0100 Subject: [PATCH] added the z cordinates --- topological_navigation/setup.py | 3 ++- .../topological_navigation/topomap_marker2.py | 4 ++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/topological_navigation/setup.py b/topological_navigation/setup.py index d034ba3a..a203bc8a 100644 --- 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 index 71ff76f2..c8e0e425 100644 --- 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)