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Commit 412bc681 authored by echelon's avatar echelon
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...@@ -27,7 +27,7 @@ void LidarOdometry::onInit() ...@@ -27,7 +27,7 @@ void LidarOdometry::onInit()
ros::NodeHandle nh; ros::NodeHandle nh;
// mFeaturesSubscriber = nh.subscribe(nh.resolveName("/pole_based_localization/detected_features"), 11, &LidarOdometry::callbackFeatures, this); // mFeaturesSubscriber = nh.subscribe(nh.resolveName("/pole_based_localization/detected_features"), 11, &LidarOdometry::callbackFeatures, this);
mOdometryPublisher = nh.advertise<nav_msgs::Odometry>("/localization/lidar_odom",1); mOdometryPublisher = nh.advertise<nav_msgs::Odometry>("/localization/lidar_odom",1);
mFeaturesSubscriber = nh.subscribe(nh.resolveName("/pole_recognition/trackedPolesArray"), 11, &LidarOdometry::callbackFeatures, this); mFeaturesSubscriber = nh.subscribe(nh.resolveName("/pole_recognition/rawDetections"), 11, &LidarOdometry::callbackFeatures, this);
} }
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