Namespaced MPPI Trajectories visualizer (#4912)

* Namespaced MPPI Trajectries visualizer Signed-off-by: Jakub Delicat <[email protected]> * removed root namespace from trajectory from MPPI visualizer Signed-off-by: Jakub Delicat <[email protected]> --------- Signed-off-by: Jakub Delicat <[email protected]>
ros-navigation · Feb 11, 2025 · b44f706 · b44f706
1 parent 5c763e2
commit b44f706
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/nav2_mppi_controller/src/trajectory_visualizer.cpp b/nav2_mppi_controller/src/trajectory_visualizer.cpp
@@ -26,7 +26,7 @@ void TrajectoryVisualizer::on_configure(
   logger_ = node->get_logger();
   frame_id_ = frame_id;
   trajectories_publisher_ =
-    node->create_publisher<visualization_msgs::msg::MarkerArray>("/trajectories", 1);
+    node->create_publisher<visualization_msgs::msg::MarkerArray>("trajectories", 1);
   transformed_path_pub_ = node->create_publisher<nav_msgs::msg::Path>("transformed_global_plan", 1);
   optimal_path_pub_ = node->create_publisher<nav_msgs::msg::Path>("optimal_trajectory", 1);
   parameters_handler_ = parameters_handler;

diff --git a/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp b/nav2_mppi_controller/test/trajectory_visualizer_tests.cpp
@@ -73,7 +73,7 @@ TEST(TrajectoryVisualizerTests, VisOptimalTrajectory)
 
   visualization_msgs::msg::MarkerArray received_msg;
   auto my_sub = node->create_subscription<visualization_msgs::msg::MarkerArray>(
-    "/trajectories", 10,
+    "trajectories", 10,
     [&](const visualization_msgs::msg::MarkerArray msg) {received_msg = msg;});
 
   // optimal_trajectory empty, should fail to publish
@@ -135,7 +135,7 @@ TEST(TrajectoryVisualizerTests, VisCandidateTrajectories)
 
   visualization_msgs::msg::MarkerArray received_msg;
   auto my_sub = node->create_subscription<visualization_msgs::msg::MarkerArray>(
-    "/trajectories", 10,
+    "trajectories", 10,
     [&](const visualization_msgs::msg::MarkerArray msg) {received_msg = msg;});
 
   models::Trajectories candidate_trajectories;