Modified the service of trigger.

gdut-dynamic-x · Jul 27, 2023 · 8255104 · 8255104
1 parent cb5cf4e
commit 8255104
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/launch/single_device.launch b/launch/single_device.launch
@@ -18,5 +18,6 @@
         <param name="resolution_ratio_width" value="1440"/>
         <param name="resolution_ratio_height" value="1080"/>
         <rosparam command="load" file="$(find hk_camera)/config/hk_camera_config.yaml" />
+        <remap from="/hk_camera/imu_trigger" to="/rm_ecat_hw/imu_trigger"/>
     </node>
 </launch>
diff --git a/src/hk_camera.cpp b/src/hk_camera.cpp
@@ -41,7 +41,7 @@ void HKCameraNodelet::onInit()
   nh_.param("gain_value", gain_value_, 15.0);
   nh_.param("gain_auto", gain_auto_, false);
   nh_.param("gamma_selector", gamma_selector_, 2);
-  nh_.param("gamma_value", gamma_value_, 0.0);
+  nh_.param("gamma_value", gamma_value_, 0.5);
   nh_.param("exposure_auto", exposure_auto_, true);
   nh_.param("exposure_value", exposure_value_, 20.0);
   nh_.param("exposure_max", exposure_max_, 3000.0);
@@ -178,7 +178,7 @@ void HKCameraNodelet::onInit()
   srv_->setCallback(cb);
   if (enable_imu_trigger_)
   {
-    imu_trigger_client_ = ros::NodeHandle("rm_hw").serviceClient<rm_msgs::EnableImuTrigger>("enable_imu_trigger");
+    imu_trigger_client_ = nh_.serviceClient<rm_msgs::EnableImuTrigger>("imu_trigger");
     rm_msgs::EnableImuTrigger imu_trigger_srv;
     imu_trigger_srv.request.imu_name = imu_name_;
     imu_trigger_srv.request.enable_trigger = true;