From 909e66de5929c9f1a6159ef1a8a5bae4b54ce072 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Wed, 10 Jan 2024 00:01:06 -0500 Subject: [PATCH] Swap out mapping module --- stretch_funmap/nodes/funmap | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/stretch_funmap/nodes/funmap b/stretch_funmap/nodes/funmap index dd9098a..07c8dc2 100755 --- a/stretch_funmap/nodes/funmap +++ b/stretch_funmap/nodes/funmap @@ -36,7 +36,7 @@ import hello_helpers.hello_ros_viz as hr import stretch_funmap.merge_maps as mm import stretch_funmap.navigate as nv -import stretch_funmap.mapping as ma +import stretch_pyfunmap.ros_mapping as rmap import stretch_funmap.segment_max_height_image as sm import stretch_funmap.navigation_planning as na import stretch_funmap.manipulation_planning as mp @@ -923,8 +923,8 @@ class FunmapNode(hm.HelloNode): # Create and perform a new full scan of the environment using # the head. - head_scan = ma.HeadScan(voi_side_m=16.0) - head_scan.execute_full(node, fast_scan=fast_scan) + head_scan = rmap.ROSHeadScan(node, voi_side_m=16.0) + head_scan.execute_full(fast_scan=fast_scan) scaled_scan = None scaled_merged_map = None