minor bug fix

jsinapov · Apr 24, 2017 · 972176a · 972176a
1 parent d4205b1
commit 972176a
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Showing 2 changed files with 5 additions and 3 deletions.
diff --git a/src/agile_grasp/grasp_localizer_server.cpp b/src/agile_grasp/grasp_localizer_server.cpp
@@ -19,7 +19,8 @@ GraspLocalizerServer::GraspLocalizerServer(ros::NodeHandle& node, const std::str
   grasps_handles_pub_ = node.advertise<agile_grasp::Grasps>("grasps_handles", 10);
 
   // service
-  grasps_service = node.advertiseService("find_grasps", &GraspLocalizerServer::service_callback,this);
+  ROS_INFO("Starting service...");
+  grasps_service = node.advertiseService("find_agile_grasps", &GraspLocalizerServer::service_callback,this);
 
   // create localization object and initialize its parameters
   localization_ = new Localization(params.num_threads_, true, params.plotting_mode_);

diff --git a/src/nodes/find_grasps.cpp b/src/nodes/find_grasps.cpp
@@ -2,6 +2,7 @@
 
 #include <agile_grasp/Grasp.h>
 #include <agile_grasp/grasp_localizer.h>
+#include <agile_grasp/grasp_localizer_server.h>
 
 
 const std::string CLOUD_TOPIC = "input_cloud";
@@ -28,7 +29,7 @@ int main(int argc, char** argv)
   ros::init(argc, argv, "find_grasps");
   ros::NodeHandle node("~");
 
-  GraspLocalizerServer::Parameters params;
+  GraspLocalizer::Parameters params;
 
   // camera transforms (poses)
   Eigen::Matrix4d base_tf, sqrt_tf;
@@ -101,7 +102,7 @@ int main(int argc, char** argv)
   std::cout << "  plot_mode: " << PLOT_MODES[params.plotting_mode_] << "\n";
   std::cout << "  marker_lifetime: " << params.marker_lifetime_ << "\n";
 
-  GraspLocalizerServer loc(node, cloud_topic, cloud_frame, cloud_type, svm_file_name, params);
+  GraspLocalizer loc(node, cloud_topic, cloud_frame, cloud_type, svm_file_name, params);
   loc.localizeGrasps();
 
 	return 0;