From 9c9790612df2cbb92ab2b9b286de0874fc5e3e59 Mon Sep 17 00:00:00 2001
From: Tongtybj <chou@jsk.imi.i.u-tokyo.ac.jp>
Date: Sat, 11 Jun 2016 06:29:24 +0900
Subject: [PATCH] add "/" to the topic name in truck_pugin.cpp in roder to
 publish without prefix

---
 jsk_mbzirc_common/launch/mbzirc_arena_1.launch       | 2 --
 jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp | 4 ++--
 jsk_mbzirc_tasks/config/task1.rviz                   | 6 +++---
 3 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/jsk_mbzirc_common/launch/mbzirc_arena_1.launch b/jsk_mbzirc_common/launch/mbzirc_arena_1.launch
index 5798ada..5f4e39d 100644
--- a/jsk_mbzirc_common/launch/mbzirc_arena_1.launch
+++ b/jsk_mbzirc_common/launch/mbzirc_arena_1.launch
@@ -13,7 +13,6 @@
     <arg name="headless" default="$(arg headless)"/>
   </include>
 
-
   <param name="truck/robot_description" command="$(find xacro)/xacro '$(find jsk_mbzirc_common)/urdf/truck.urdf.xacro'" />
 
   <group ns="truck/ground_truth">
@@ -31,7 +30,6 @@
       <param name="tf_prefix" type="string" value="truck/ground_truth" />
       <param name="publish_frequency" type="double" value="50.0" />
     </node>
-
   </group>
 
 </launch>
diff --git a/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp b/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp
index 5f7f53d..c70958f 100644
--- a/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp
+++ b/jsk_mbzirc_common/src/mbzirc_gazebo_truck_plugin.cpp
@@ -86,8 +86,8 @@ void GazeboTruck::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf)
   }
 
   node_handle_ = new ros::NodeHandle(namespace_);
-  pub_score_ = node_handle_->advertise<std_msgs::String>("score", 1, true);  // set latch true
-  pub_time_ = node_handle_->advertise<std_msgs::String>("remaining_time", 1);
+  pub_score_ = node_handle_->advertise<std_msgs::String>("/score", 1, true);  // set latch true
+  pub_time_ = node_handle_->advertise<std_msgs::String>("/remaining_time", 1);
 
   update_connection_ = event::Events::ConnectWorldUpdateBegin(boost::bind(&GazeboTruck::Update, this));
 }
diff --git a/jsk_mbzirc_tasks/config/task1.rviz b/jsk_mbzirc_tasks/config/task1.rviz
index 5d825f3..d553591 100644
--- a/jsk_mbzirc_tasks/config/task1.rviz
+++ b/jsk_mbzirc_tasks/config/task1.rviz
@@ -145,12 +145,12 @@ Visualization Manager:
       Topic: /remaining_time_overlay
       Value: true
       font: DejaVu Sans Mono
-      height: 100
+      height: 50
       left: 10
       line width: 2
-      text size: 64
+      text size: 32
       top: 10
-      width: 370
+      width: 500
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48