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remove service name parameter #14

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Merged
Yadunund merged 1 commit into from
Jan 31, 2025
Merged

remove service name parameter #14

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5 changes: 1 addition & 4 deletions Dockerfile.estimator
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Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,6 @@ FROM base

ARG SERVICE_PACKAGE=ibpc_pose_estimator
ARG SERVICE_EXECUTABLE_NAME=ibpc_pose_estimator
ARG SERVICE_NAME=/get_pose_estimates

RUN apt update \
&& sudo apt install curl -y \
Expand All @@ -72,8 +71,6 @@ RUN sed --in-place \
ENV SERVICE_PACKAGE=${SERVICE_PACKAGE}
ENV SERVICE_EXECUTABLE_NAME=${SERVICE_EXECUTABLE_NAME}
ENV MODEL_DIR=/opt/ros/underlay/install/models
ENV SERVICE_NAME=${SERVICE_NAME}

CMD exec /opt/ros/overlay/install/lib/${SERVICE_PACKAGE}/${SERVICE_EXECUTABLE_NAME} \
--ros-args -p model_dir:=${MODEL_DIR} \
-p service_name:=${SERVICE_NAME}
--ros-args -p model_dir:=${MODEL_DIR}
5 changes: 1 addition & 4 deletions Dockerfile.tester
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Expand Up @@ -49,7 +49,6 @@ FROM base
ARG DATASET_NAME
ARG SERVICE_PACKAGE=ibpc_tester
ARG SERVICE_EXECUTABLE_NAME=ibpc_tester
ARG SERVICE_NAME=/get_pose_estimates

RUN apt update \
&& sudo apt install curl -y \
Expand All @@ -74,8 +73,6 @@ ENV DATASET_NAME=${DATASET_NAME}
ENV SERVICE_PACKAGE=${SERVICE_PACKAGE}
ENV SERVICE_EXECUTABLE_NAME=${SERVICE_EXECUTABLE_NAME}
ENV BOP_PATH=/opt/ros/underlay/install/datasets
ENV SERVICE_NAME=${SERVICE_NAME}

CMD exec /opt/ros/overlay/install/lib/${SERVICE_PACKAGE}/${SERVICE_EXECUTABLE_NAME} \
--ros-args -p dataset_name:=${DATASET_NAME} \
-p service_name:=${SERVICE_NAME}
--ros-args -p dataset_name:=${DATASET_NAME}
3 changes: 1 addition & 2 deletions ibpc_pose_estimator/src/ibpc_pose_estimator.cpp
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Expand Up @@ -32,8 +32,7 @@ PoseEstimator::PoseEstimator(const rclcpp::NodeOptions & options)
);
model_dir_ = std::filesystem::path(std::move(path_str));

std::string srv_name =
this->declare_parameter("service_name", "/get_pose_estimates");
std::string srv_name = "/get_pose_estimates";
RCLCPP_INFO(
this->get_logger(),
"Pose estimates can be queried over srv %s.",
Expand Down
8 changes: 1 addition & 7 deletions ibpc_pose_estimator_py/ibpc_pose_estimator_py/ibpc_pose_estimator.py
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Expand Up @@ -89,13 +89,7 @@ def __init__(self):
if self.model_dir == "":
raise Exception("ROS parameter model_dir not set.")
self.get_logger().info(f"Model directory set to {self.model_dir}.")
srv_name = (
self.declare_parameter("service_name", "/get_pose_estimates")
.get_parameter_value()
.string_value
)
if srv_name == "":
raise Exception("ROS parameter service_name not set.")
srv_name = "/get_pose_estimates"
self.get_logger().info(f"Pose estimates can be queried over srv {srv_name}.")
self.srv = self.create_service(GetPoseEstimates, srv_name, self.srv_cb)

Expand Down