Add use of publish_image_with_detected_human_topic parameter as topic…

… name
Wiktor-99 · Jul 16, 2024 · de36a2b · de36a2b
1 parent 3fbdc1b
commit de36a2b
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/human_detector/human_detector/human_detector.py b/human_detector/human_detector/human_detector.py
@@ -41,7 +41,9 @@ def on_configure(self, previous_state: LifecycleState):
             CameraInfo, "/camera/depth/camera_info", self.store_camera_info, 10
         )
         if self.is_publishing_image_with_detected_human_needed():
-            self.image_with_detected_human_pub = self.create_publisher(Image, "/camera/color/person_selected", 10)
+            self.image_with_detected_human_pub = self.create_publisher(
+                Image, self.parameters.publish_image_with_detected_human_topic, 10
+            )
         self.timer = self.create_timer(1 / self.parameters.detected_human_transform_frequency, self.timer_callback)
         self.timer.cancel()