Update SendPointCloudToUI Ports

src/picknik_ur_site_config/objectives/detect_door_graspable_object.xml

@@ -8,15 +8,15 @@
       <Action ID="GetCameraInfo" topic_name="/wrist_mounted_camera/color/camera_info" message_out="{camera_info}"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
       <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" pcd_topic="/pcd_pointcloud_captures"/>
       <Action ID="GetImage" topic_name="/wrist_mounted_camera/color/image_raw" message_out="{image}"/>
       <!-- Segment out 2D masks and then convert to 3D masks and visualize in UI -->
       <Action ID="GetMasks2DAction" image="{image}" action_name="get_masks_2d_maskrcnn" min_confidence="0.8" max_nms_iou="0.8" min_relative_area="0.05" max_relative_area="0.8" timeout_sec="15.0" masks2d="{masks2d}" valid_classes="{detection_classes}"/>
       <Action ID="GetMasks3DFromMasks2D" point_cloud="{point_cloud}" masks2d="{masks2d}" camera_info="{camera_info}" masks3d="{masks3d}"/>
       <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/>
-          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" pcd_topic="/pcd_pointcloud_captures"/>
         </Control>
       </Decorator>
       <!-- Convert 3D mask into graspable object, but as we don't need it for MTC  -->

src/picknik_ur_site_config/objectives/detect_fixed_handle_graspable_object.xml

@@ -17,7 +17,7 @@
       <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/>
-          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" pcd_topic="/pcd_pointcloud_captures"/>
         </Control>
       </Decorator>
       <!-- Convert 3D mask into graspable object -->

src/picknik_ur_site_config/objectives/detect_lever_handle_line_segment.xml

@@ -16,7 +16,7 @@
       <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/>
-          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" pcd_topic="/pcd_pointcloud_captures"/>
         </Control>
       </Decorator>
       <!-- Fit a line segment to the 3D mask -->

src/picknik_ur_site_config/objectives/pick_place_object.xml

@@ -19,7 +19,7 @@
               <!-- Get the latest point cloud from the target topic-->
               <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}"/>
               <!-- Publish point cloud for display by UI -->
-              <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+              <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" pcd_topic="/pcd_pointcloud_captures"/>
               <!-- Detect all cuboids in that point cloud-->
               <Action ID="FindSingularCuboids" point_cloud="{point_cloud}" parameters="{parameters}" detected_shapes="{cuboids}"/>
               <!-- Find the closest cuboid to the pose calculated from the user's original click -->

src/picknik_ur_site_config/objectives/push_button_ml.xml

@@ -15,7 +15,7 @@
       <Decorator ID="ForEachMask3D" vector_in="{masks3d}" out="{mask3d}">
         <Control ID="Sequence">
           <Action ID="GetPointCloudFromMask3D" point_cloud="{point_cloud}" mask3d="{mask3d}" point_cloud_fragment="{point_cloud_fragment}"/>
-          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures"/>
+          <Action ID="SendPointCloudToUI" point_cloud="{point_cloud_fragment}" pcd_topic="/pcd_pointcloud_captures"/>
         </Control>
       </Decorator>
       <Action ID="GetGraspableObjectsFromMasks3D" point_cloud="{point_cloud}" masks3d="{masks3d}" base_frame="world" plane_inlier_threshold="0.02" minimum_face_area="0.000625" face_separation_threshold="0.03" graspable_objects="{graspable_objects}"/>

src/picknik_ur_site_config/objectives/take_snapshot.xml

@@ -6,7 +6,7 @@
       <Action ID="SwitchUIPrimaryView" primary_view_name="Visualization"/>
       <Action ID="GetPointCloud" topic_name="/wrist_mounted_camera/depth/color/points" message_out="{point_cloud}" timeout_sec="15.000000"/>
       <Action ID="UpdatePlanningSceneService" point_cloud="{point_cloud}" point_cloud_service="/point_cloud_service"/>
-      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" sensor_name="scene_scan_camera" pcd_topic="/pcd_pointcloud_captures" />
+      <Action ID="SendPointCloudToUI" point_cloud="{point_cloud}" pcd_topic="/pcd_pointcloud_captures" />
     </Control>
   </BehaviorTree>
 </root>