minor fixes

estherag · estherag · commit ad0955434a97 · 2025-06-10T10:09:08.000+02:00
diff --git a/easynav_gridmap_maps_builder/src/easynav_gridmap_maps_builder/GridmapMapsBuilderNode.cpp b/easynav_gridmap_maps_builder/src/easynav_gridmap_maps_builder/GridmapMapsBuilderNode.cpp
@@ -40,7 +40,7 @@ GridmapMapsBuilderNode::GridmapMapsBuilderNode(const rclcpp::NodeOptions & optio
   cbg_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);
 
   if (!has_parameter("sensor_topic")) {
-    declare_parameter("sensor_topic", "map");
+    declare_parameter("sensor_topic", "points");
   }
 
   if (!has_parameter("downsample_resolution")) {
@@ -143,7 +143,7 @@ void GridmapMapsBuilderNode::cycle()
       processed_perceptions.downsample(downsample_resolution_);
     }
 
-    auto downsampled_points = processed_perceptions.as_points(0);
+    auto downsampled_points = processed_perceptions.as_points();
     if (downsampled_points.empty()) {
       return;
     }

Original file line number	Diff line number	Diff line change
`@@ -40,7 +40,7 @@ GridmapMapsBuilderNode::GridmapMapsBuilderNode(const rclcpp::NodeOptions & optio`
`40`	`40`	`cbg_ = create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive);`
`41`	`41`
`42`	`42`	`if (!has_parameter("sensor_topic")) {`
`43`		`- declare_parameter("sensor_topic", "map");`
	`43`	`+ declare_parameter("sensor_topic", "points");`
`44`	`44`	`}`
`45`	`45`
`46`	`46`	`if (!has_parameter("downsample_resolution")) {`
`@@ -143,7 +143,7 @@ void GridmapMapsBuilderNode::cycle()`
`143`	`143`	`processed_perceptions.downsample(downsample_resolution_);`
`144`	`144`	`}`
`145`	`145`
`146`		`- auto downsampled_points = processed_perceptions.as_points(0);`
	`146`	`+ auto downsampled_points = processed_perceptions.as_points();`
`147`	`147`	`if (downsampled_points.empty()) {`
`148`	`148`	`return;`
`149`	`149`	`}`