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Merged
xaru8145 merged 2 commits into from
Nov 6, 2025
Merged

Improve Module 3 exercise #40

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35d282f
have wrong param definition for both declare and get otherwise we get…
xaru8145 Nov 5, 2025
8ccba1a
change the intentional typo ftom sub to pub to improve exercise flow
xaru8145 Nov 6, 2025
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8 changes: 4 additions & 4 deletions modules/module_3/src/laser_detector_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,8 +21,8 @@ namespace module_3 {
LaserDetectorNode::LaserDetectorNode(const rclcpp::NodeOptions& options)
: rclcpp::Node("laser_detector_node", options) {
// Declare parameters
this->declare_parameter("fotprint_radius", 1.0);
this->declare_parameter("min_points", 20);
this->declare_parameter("footprint_radius", 1.0);
this->declare_parameter("min_point", 20);
this->declare_parameter("roi_min_angle", 0.0);
this->declare_parameter("roi_max_angle", 2.0 * M_PI);

Expand All @@ -48,11 +48,11 @@ LaserDetectorNode::LaserDetectorNode(const rclcpp::NodeOptions& options)
}

// Publishers
obstacle_pub_ = this->create_publisher<std_msgs::msg::Bool>("obstacle_detection", 10);
obstacle_pub_ = this->create_publisher<std_msgs::msg::Bool>("obstacle_detections", 10);

// Subscribers
scan_sub_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
"scans", rclcpp::SensorDataQoS(),
"scan", rclcpp::SensorDataQoS(),
std::bind(&LaserDetectorNode::scan_callback, this, std::placeholders::_1));

RCLCPP_INFO(this->get_logger(), "LaserDetectorNode initialized");
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