fix bug

Signed-off-by: Shinnosuke Hirakawa <[email protected]>
MapIV · Feb 25, 2021 · 56a50d9 · 56a50d9
1 parent 1e74417
commit 56a50d9
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Showing 3 changed files with 4 additions and 1 deletion.
diff --git a/pandar_pointcloud/CMakeLists.txt b/pandar_pointcloud/CMakeLists.txt
@@ -20,7 +20,7 @@ catkin_package(
   CATKIN_DEPENDS
     pandar_msgs
   LIBRARIES
-    pandar_pointcloud
+    pandar_cloud
 )
 
 include_directories(

diff --git a/pandar_pointcloud/include/pandar_pointcloud/pandar_cloud.hpp b/pandar_pointcloud/include/pandar_pointcloud/pandar_cloud.hpp
@@ -24,6 +24,7 @@ class PandarCloud
     const pcl::PointCloud<PointXYZIRADT>::ConstPtr & input_pointcloud);
 
   std::string model_;
+  std::string device_ip_;
   std::string calibration_path_;
   double scan_phase_;
 

diff --git a/pandar_pointcloud/src/pandar_cloud.cpp b/pandar_pointcloud/src/pandar_cloud.cpp
@@ -21,13 +21,15 @@ PandarCloud::PandarCloud(ros::NodeHandle node, ros::NodeHandle private_nh)
   private_nh.getParam("scan_phase", scan_phase_);
   private_nh.getParam("calibration", calibration_path_);
   private_nh.getParam("model", model_);
+  private_nh.getParam("device_ip", device_ip_);
 
   pandar_packet_sub_ = node.subscribe(
     "pandar_packets", 10, &PandarCloud::onProcessScan, this,
     ros::TransportHints().tcpNoDelay(true));
   pandar_points_pub_ = node.advertise<sensor_msgs::PointCloud2>("pandar_points", 10);
   pandar_points_ex_pub_ = node.advertise<sensor_msgs::PointCloud2>("pandar_points_ex", 10);
 
+  tcp_client_ = std::make_shared<TcpCommandClient>(device_ip_, TCP_COMMAND_PORT);
   if (setupCalibration() != 0) {
     ROS_ERROR("Unable to load calibration data");
     return;