Configurable input topics.

extras/ros/pose2d_visualizer/pose2d_visualizer/pose2d_visualizer.py

@@ -19,10 +19,9 @@ bridge = CvBridge()
 node = None
 publisher_img = None
 
-cam_id = "camera01"
-img_input_topic = "/" + cam_id + "/pylon_ros2_camera_node/image_raw"
-pose_input_topic = "/poses/" + cam_id
-img_output_topic = "/" + cam_id + "/img_with_pose"
+img_input_topic = "/{}/pylon_ros2_camera_node/image_raw"
+pose_input_topic = "/poses/{}"
+img_output_topic = "/{}/img_with_pose"
 
 last_input_image = None
 lock = threading.Lock()
@@ -113,6 +112,7 @@ def main():
 
     # Start node
     rclpy.init(args=sys.argv)
+    cam_id = sys.argv[1]
     node = rclpy.create_node("pose2d_visualizer")
 
     # Quality of service settings
@@ -125,19 +125,23 @@ def main():
     # Create subscribers
     _ = node.create_subscription(
         Image,
-        img_input_topic,
+        img_input_topic.format(cam_id),
         callback_images,
         qos_profile,
     )
     _ = node.create_subscription(
         Poses,
-        pose_input_topic,
+        pose_input_topic.format(cam_id),
         callback_poses,
         qos_profile,
     )
 
     # Create publishers
-    publisher_img = node.create_publisher(Image, img_output_topic, qos_profile)
+    publisher_img = node.create_publisher(
+        Image,
+        img_output_topic.format(cam_id),
+        qos_profile,
+    )
 
     node.get_logger().info("Finished initialization of pose visualizer")