Update params

ajtudela · Jun 21, 2021 · 33d1084 · 33d1084
1 parent 1314921
commit 33d1084
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Showing 2 changed files with 5 additions and 11 deletions.
diff --git a/include/object_detection_openvino/objectDetectionOpenvino.h b/include/object_detection_openvino/objectDetectionOpenvino.h
@@ -19,7 +19,6 @@
 
 // ROS
 #include <ros/ros.h>
-#include <std_srvs/Empty.h>
 #include <std_msgs/Header.h>
 #include <geometry_msgs/Pose.h>
 #include <geometry_msgs/Vector3.h>
@@ -59,7 +58,6 @@ class ObjectDetectionOpenvino{
 	private:
 		// ROS related
 		ros::NodeHandle node_, nodePrivate_;
-		ros::ServiceServer paramsSrv_;
 		image_transport::ImageTransport imageTransport_;
 		image_transport::SubscriberFilter colorSub_, depthSub_;
 		image_transport::Publisher detectionColorPub_;
@@ -77,8 +75,7 @@ class ObjectDetectionOpenvino{
 		float fx_, fy_, cx_, cy_;
 		bool showFPS_, useDepth_, outputImage_;
 
-		void initialize() { std_srvs::Empty empt; updateParams(empt.request, empt.response); }
-		bool updateParams(std_srvs::Empty::Request& req, std_srvs::Empty::Response& res);
+		void getParams();
 		void infoCallback(const sensor_msgs::CameraInfo::ConstPtr& infoMsg);
 		void oneImageCallback(sensor_msgs::Image::ConstPtr colorImageMsg);
 		void twoImageCallback(sensor_msgs::Image::ConstPtr colorImageMsg, sensor_msgs::Image::ConstPtr depthImageMsg);

diff --git a/src/objectDetectionOpenvino.cpp b/src/objectDetectionOpenvino.cpp
@@ -28,10 +28,7 @@
 ObjectDetectionOpenvino::ObjectDetectionOpenvino(ros::NodeHandle& node, ros::NodeHandle& node_private): node_(node), nodePrivate_(node_private), imageTransport_(nodePrivate_), 
 																										syncTwoImage_(SyncPolicyTwoImage(5), colorSub_, depthSub_){
 	// Initialize ROS parameters
-	ROS_INFO("[Object detection Openvino]: Reading ROS parameters");
-	paramsSrv_ = nodePrivate_.advertiseService("params", &ObjectDetectionOpenvino::updateParams, this);
-
-	initialize();
+	getParams();
 
 	ROS_INFO_STREAM("[Object detection Openvino]: Loading Inference Engine" << InferenceEngine::GetInferenceEngineVersion());
 	ROS_INFO_STREAM("[Object detection Openvino]: Device info: " << core_.GetVersions(deviceTarget_));
@@ -187,7 +184,9 @@ ObjectDetectionOpenvino::~ObjectDetectionOpenvino(){
 }
 
 /* Update parameters of the node */
-bool ObjectDetectionOpenvino::updateParams(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res){
+void ObjectDetectionOpenvino::getParams(){
+	ROS_INFO("[Object detection Openvino]: Reading ROS parameters");
+
 	nodePrivate_.param<float>("model_thresh", thresh_, 0.3);
 	nodePrivate_.param<float>("model_iou_thresh", iouThresh_, 0.4);
 
@@ -206,8 +205,6 @@ bool ObjectDetectionOpenvino::updateParams(std_srvs::Empty::Request &req, std_sr
 
 	nodePrivate_.param<bool>("show_fps", showFPS_, false);
 	nodePrivate_.param<bool>("output_image", outputImage_, true);
-
-	return true;
 }
 
 /* Camera info Callback */