Changing camera naming to launch file

Author: anurag

src/startAudio.cpp

@@ -27,18 +27,18 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 ***************************************************************************************/
 #include "k2_client.h"
 
-std::string topicName = "/head/kinect2/audio";
+std::string topicName = "kinect2/audio";
 int twiceStreamSize = 8200;
 int streamSize = 4100;
 
 int main(int argC,char **argV)
 {
 	ros::init(argC,argV,"startAudio");
 	ros::NodeHandle n;
-	ros::Publisher audioPub = n.advertise<k2_client::Audio>(topicName,1);
 	std::string serverAddress;
 	n.getParam("/serverNameOrIP",serverAddress);
 	Socket mySocket(serverAddress.c_str(),"9004",twiceStreamSize);
+	ros::Publisher audioPub = n.advertise<k2_client::Audio>(topicName,1);
 	while(ros::ok())
 	{
 		mySocket.readData();

src/startBody.cpp

@@ -28,7 +28,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 #include "k2_client.h"
 #include <iconv.h>
 
-std::string topicName = "/head/kinect2/bodyArray";
+std::string topicName = "bodyArray";
 size_t streamSize = 56008;
 size_t readSkipSize = 56000;
 size_t stringSize = 28000;
@@ -37,11 +37,11 @@ int main(int argC,char **argV)
 {
 	ros::init(argC,argV,"startBody");
 	ros::NodeHandle n;
-	ros::Publisher bodyPub = n.advertise<k2_client::BodyArray>(topicName,1);
 	std::string serverAddress;
 	n.getParam("/serverNameOrIP",serverAddress);
 	Socket mySocket(serverAddress.c_str(),"9003",streamSize);
 	iconv_t charConverter = iconv_open("UTF-8","UTF-16");
+	ros::Publisher bodyPub = n.advertise<k2_client::BodyArray>(topicName,1);
 	char jsonCharArray[readSkipSize];
 	while(ros::ok())
 	{

src/startDepth.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 434176;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "head/kinect2/depth";
+std::string cameraName = "kinect2/depth";
 std::string imageTopicSubName = "image_depth";
 std::string cameraInfoSubName = "camera_info";
 
@@ -38,13 +38,13 @@ int main(int argC,char **argV)
 	ros::init(argC,argV,"startDepth");
 	ros::NodeHandle n(cameraName);
 	image_transport::ImageTransport imT(n);
+	std::string serverAddress;
+	n.getParam("/serverNameOrIP",serverAddress);
+	Socket mySocket(serverAddress.c_str(),"9001",streamSize);
 	image_transport::Publisher imagePublisher = imT.advertise(imageTopicSubName,1);
 	ros::Publisher cameraInfoPub = n.advertise<sensor_msgs::CameraInfo>(cameraInfoSubName,1);
 	camera_info_manager::CameraInfoManager camInfoMgr(n,cameraName);
 	camInfoMgr.loadCameraInfo("");
-	std::string serverAddress;
-	n.getParam("/serverNameOrIP",serverAddress);
-	Socket mySocket(serverAddress.c_str(),"9001",streamSize);
 	cv::Mat frame;
 	cv_bridge::CvImage cvImage;
 	sensor_msgs::Image rosImage;

src/startIR.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 434176;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "head/kinect2/ir";
+std::string cameraName = "kinect2/ir";
 std::string imageTopicSubName = "image_ir";
 std::string cameraInfoSubName = "camera_info";
 
@@ -38,13 +38,13 @@ int main(int argC,char **argV)
 	ros::init(argC,argV,"startIR");
 	ros::NodeHandle n(cameraName);
 	image_transport::ImageTransport imT(n);
+	std::string serverAddress;
+	n.getParam("/serverNameOrIP",serverAddress);
+	Socket mySocket(serverAddress.c_str(),"9002",streamSize);
 	image_transport::Publisher imagePublisher = imT.advertise(imageTopicSubName,1);
 	ros::Publisher cameraInfoPub = n.advertise<sensor_msgs::CameraInfo>(cameraInfoSubName,1);
 	camera_info_manager::CameraInfoManager camInfoMgr(n,cameraName);
 	camInfoMgr.loadCameraInfo("");
-	std::string serverAddress;
-	n.getParam("/serverNameOrIP",serverAddress);
-	Socket mySocket(serverAddress.c_str(),"9002",streamSize);
 	cv::Mat frame;
 	cv_bridge::CvImage cvImage;
 	sensor_msgs::Image rosImage;

src/startRGB.cpp

@@ -29,7 +29,7 @@ WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
 
 int imageSize = 8294400;
 int streamSize = imageSize + sizeof(double);
-std::string cameraName = "head/kinect2/rgb";
+std::string cameraName = "kinect2/rgb";
 std::string imageTopicSubName = "image_color";
 std::string cameraInfoSubName = "camera_info";
 
@@ -38,13 +38,13 @@ int main(int argC,char **argV)
 	ros::init(argC,argV,"startRGB");
 	ros::NodeHandle n(cameraName);
 	image_transport::ImageTransport imT(n);
+	std::string serverAddress;
+	n.getParam("/serverNameOrIP",serverAddress);
+	Socket mySocket(serverAddress.c_str(),"9000",streamSize);
 	image_transport::Publisher imagePublisher = imT.advertise(imageTopicSubName,1);
 	ros::Publisher cameraInfoPub = n.advertise<sensor_msgs::CameraInfo>(cameraInfoSubName,1);
 	camera_info_manager::CameraInfoManager camInfoMgr(n,cameraName);
 	camInfoMgr.loadCameraInfo("");
-	std::string serverAddress;
-	n.getParam("/serverNameOrIP",serverAddress);
-	Socket mySocket(serverAddress.c_str(),"9000",streamSize);
 	cv::Mat frame;
 	cv_bridge::CvImage cvImage;
 	sensor_msgs::Image rosImage;