Draw colorbar

ethz-asl · Aug 25, 2024 · 7d73a1d · 7d73a1d
1 parent 7d8af18
commit 7d73a1d
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/adaptive_snowsampler/include/adaptive_snowsampler/adaptive_snowsampler.h b/adaptive_snowsampler/include/adaptive_snowsampler/adaptive_snowsampler.h
@@ -231,8 +231,8 @@ class AdaptiveSnowSampler {
 
   Eigen::Vector3d vehicle_position_{Eigen::Vector3d(0.0, 0.0, 0.0)};
   Eigen::Vector3d lv03_vehicle_position_{Eigen::Vector3d(0.0, 0.0, 0.0)};
-  Eigen::Vector3d map_origin_{Eigen::Vector3d{787802.0, 185985.0, 0.0}};  // Fluelatal
-  // Eigen::Vector3d map_origin_{Eigen::Vector3d{783936.0, 184512.0, 0.0}}; //Braemabuel
+  // Eigen::Vector3d map_origin_{Eigen::Vector3d{787802.0, 185985.0, 0.0}};  // Fluelatal
+  Eigen::Vector3d map_origin_{Eigen::Vector3d{783936.0, 184512.0, 0.0}}; //Braemabuel
   std::vector<geometry_msgs::PoseStamped> positionhistory_vector_;
   std::vector<Eigen::Vector3d> colored_trajectory_;
   Eigen::Quaterniond vehicle_attitude_{Eigen::Quaterniond(1.0, 0.0, 0.0, 0.0)};

diff --git a/adaptive_snowsampler/launch/replay_bag.launch b/adaptive_snowsampler/launch/replay_bag.launch
@@ -1,6 +1,6 @@
 <launch>
-    <arg name="location" default="flueelatal"/>
-    <!-- <arg name="location" default="braemabuel_1m_crop"/> -->
+    <!-- <arg name="location" default="flueelatal"/> -->
+    <arg name="location" default="braemabuel_1m_crop"/>
     <arg name="path" default="$(find adaptive_snowsampler)/scripts/file.bag"/>
     <arg name="visualization" default="true"/>
     <arg name="start_time" default="0.0"/>

diff --git a/adaptive_snowsampler/src/adaptive_snowsampler.cpp b/adaptive_snowsampler/src/adaptive_snowsampler.cpp
@@ -263,7 +263,6 @@ void AdaptiveSnowSampler::publishMap() {
   Eigen::Vector3d map_origin;
   map_->getGlobalOrigin(epsg, map_origin);
   map_origin_ = map_origin;
-  std::cout << "map_origin: " << map_origin_.transpose() << std::endl;
   grid_map_geo_msgs::GeographicMapInfo map_info_msg;
   map_info_msg.header.stamp = ros::Time::now();
   map_info_msg.geo_coordinate = static_cast<int>(epsg);
@@ -651,6 +650,7 @@ void AdaptiveSnowSampler::publishColoredTrajectory(const ros::Publisher &pub, co
       }
     }
 
+    std::cout << "max altitude: " << max_altitude << ", min altitude: " << min_altitude << std::endl;
 
     visualization_msgs::Marker msg;
     msg.header.frame_id = "map";