marker color fixed

mgonzs13 · Apr 30, 2024 · 1fd5f85 · 1fd5f85
1 parent 731f56b
commit 1fd5f85
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Showing 2 changed files with 6 additions and 9 deletions.
diff --git a/yolov8_ros/yolov8_ros/debug_node.py b/yolov8_ros/yolov8_ros/debug_node.py
@@ -205,9 +205,9 @@ def create_bb_marker(self, detection: Detection, color: Tuple[int]) -> Marker:
         marker.scale.y = bbox3d.size.y
         marker.scale.z = bbox3d.size.z
 
-        marker.color.b = float(color[0])
-        marker.color.g = float(color[1])
-        marker.color.r = float(color[2])
+        marker.color.b = color[0] / 255.0
+        marker.color.g = color[1] / 255.0
+        marker.color.r = color[2] / 255.0
         marker.color.a = 0.4
 
         marker.lifetime = Duration(seconds=0.5).to_msg()

diff --git a/yolov8_ros/yolov8_ros/yolov8_node.py b/yolov8_ros/yolov8_ros/yolov8_node.py
@@ -59,8 +59,6 @@ def __init__(self, **kwargs) -> None:
         self.declare_parameter("image_reliability",
                                QoSReliabilityPolicy.BEST_EFFORT)
 
-        self.declare_parameter("input_image_topic", "image_raw")
-
         self.get_logger().info('Yolov8Node created')
 
     def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
@@ -88,9 +86,6 @@ def on_configure(self, state: LifecycleState) -> TransitionCallbackReturn:
             depth=1
         )
 
-        self.topic_name = self.get_parameter(
-            "input_image_topic").get_parameter_value().string_value
-
         self._pub = self.create_lifecycle_publisher(
             DetectionArray, "detections", 10)
         self._srv = self.create_service(
@@ -113,7 +108,9 @@ def on_activate(self, state: LifecycleState) -> TransitionCallbackReturn:
 
         # subs
         self._sub = self.create_subscription(
-            Image, self.topic_name, self.image_cb,
+            Image,
+            "image_raw",
+            self.image_cb,
             self.image_qos_profile
         )