added debug flag for publishing visualization (#3)

ISC-Project-Phoenix · Jan 17, 2024 · 4f18959 · 4f18959
1 parent 34ab6ba
commit 4f18959
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Showing 2 changed files with 6 additions and 3 deletions.
diff --git a/include/obj_tracker/ObjTrackerNode_node.hpp b/include/obj_tracker/ObjTrackerNode_node.hpp
@@ -7,6 +7,9 @@
 
 class ObjTrackerNode : public rclcpp::Node {
 private:
+    /// Publishes visualisations if true
+    bool debug;
+
     /// Filtered poses
     rclcpp::Publisher<geometry_msgs::msg::PoseArray>::SharedPtr pose_pub;
 

diff --git a/src/ObjTrackerNode_node.cpp b/src/ObjTrackerNode_node.cpp
@@ -24,7 +24,7 @@ ObjTrackerNode::ObjTrackerNode(const rclcpp::NodeOptions& options)
           this->declare_parameter("inital_vx", -0.3f)) {
     // Random params
     this->declare_parameter("test_latency", false);
-    this->declare_parameter("visualize_ids", true);
+    debug = this->declare_parameter<bool>("debug", true);
 
     // Pub Sub
     this->pose_sub = this->create_subscription<geometry_msgs::msg::PoseArray>(
@@ -55,8 +55,8 @@ void ObjTrackerNode::pose_cb(geometry_msgs::msg::PoseArray::SharedPtr msg) {
     filtered_arr.header = msg->header;
     this->pose_pub->publish(filtered_arr);
 
-    // Visualize ids as text for rviz
-    if (this->get_parameter("visualize_ids").as_bool()) {
+    // publish visualization if running with debug
+    if (debug) {
         visualization_msgs::msg::MarkerArray vis{};
 
         for (auto& [id, point] : filtered) {