From c452ee309c2d6aa4be12afe6949fbbc6ade4660f Mon Sep 17 00:00:00 2001
From: Hongyu Li <li.hongyu1@northeastern.edu>
Date: Tue, 29 Mar 2022 14:59:17 -0400
Subject: [PATCH] Made camera topics parameters

---
 .../launch/human_state_estimation.launch                  | 4 +++-
 vz_human_state_estimation/scripts/ros_interface.py        | 8 ++++++--
 2 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/vz_human_state_estimation/launch/human_state_estimation.launch b/vz_human_state_estimation/launch/human_state_estimation.launch
index ef5cdb8..47f270a 100644
--- a/vz_human_state_estimation/launch/human_state_estimation.launch
+++ b/vz_human_state_estimation/launch/human_state_estimation.launch
@@ -1,5 +1,7 @@
 <launch>
     <node pkg="vz_human_state_estimation" type="ros_interface.py" name="human_state_estimation" />
     <!-- flip images before passing onto human state estimation module -->
-    <param name="flip_images_human_state_est" type="bool" value="true" />      
+    <param name="flip_images_human_state_est" type="bool" value="true" />
+    <param name="rgbd_topic" type="string" value="/D435i/image_raw" />
+    <param name="thermal_topic" type="string" value="/Lepton/image_raw" />
 </launch>
\ No newline at end of file
diff --git a/vz_human_state_estimation/scripts/ros_interface.py b/vz_human_state_estimation/scripts/ros_interface.py
index 5ad12bd..20bde4d 100755
--- a/vz_human_state_estimation/scripts/ros_interface.py
+++ b/vz_human_state_estimation/scripts/ros_interface.py
@@ -33,9 +33,13 @@ class ROSInterface:
         # set up CV Bridge
         self.bridge = CvBridge()
 
+        # Get topic names
+        self.rgbd_topic = rospy.get_param("rgbd_topic")
+        self.thermal_topic = rospy.get_param("thermal_topic")
+
         #Image subscribers
-        rgbd_sub    = message_filters.Subscriber("/D435i/image_raw",Image)
-        thermal_sub = message_filters.Subscriber("/flir_3_5_near_realsense_raw",Image)
+        rgbd_sub    = message_filters.Subscriber(self.rgbd_topic, Image)
+        thermal_sub = message_filters.Subscriber(self.thermal_topic, Image)
 
         # todo: confirm the slop parameter with Paul Ghanem. 2 secs seems high
         ats = message_filters.ApproximateTimeSynchronizer([rgbd_sub,thermal_sub],queue_size=10,slop=2.0)