From 85d0bff6ec16369e4a98337b3e31522c4b3b827c Mon Sep 17 00:00:00 2001
From: Derek Witcpalek <dwitcpa@umich.edu>
Date: Sun, 26 Apr 2020 10:46:23 -0400
Subject: [PATCH] Makes depth camera publish to the channel the rrrobot_node is
 listening on

---
 src/rrrobot_ws/run_all.sh                            | 11 +++++++++++
 src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp |  4 +++-
 2 files changed, 14 insertions(+), 1 deletion(-)
 create mode 100755 src/rrrobot_ws/run_all.sh

diff --git a/src/rrrobot_ws/run_all.sh b/src/rrrobot_ws/run_all.sh
new file mode 100755
index 0000000..d557fff
--- /dev/null
+++ b/src/rrrobot_ws/run_all.sh
@@ -0,0 +1,11 @@
+#/app/rrrobot_ws/src/rrrobot/scripts/rrrobot_run_no_build.sh &
+cd /app/rrrobot_ws/src/rrrobot/src
+python3 cv_model.py &
+cd /app/rrrobot_ws/devel/lib/rrrobot
+./rrrobot_node &
+./depth_camera_node >> /dev/null &
+./object_spawner_node &
+./arm_controller_node &
+rostopic echo /arm_controller/destination &
+rostopic echo /desired_grasp_pose &
+rostopic echo /cv_model &
diff --git a/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp b/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp
index 8b5b470..812cd89 100644
--- a/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp
+++ b/src/rrrobot_ws/src/rrrobot/src/depth_camera_node.cpp
@@ -21,6 +21,8 @@
 #include <std_msgs/String.h>
 #include <std_srvs/Trigger.h>
 
+#include "topic_names.h"
+
 ros::Publisher pub;
 
 void depth_camera_callback(const sensor_msgs::PointCloud::ConstPtr &cloud_msg)
@@ -277,7 +279,7 @@ int main(int argc, char **argv)
 
 	ros::Subscriber sub = node.subscribe("/ariac/depth_camera_1", 1, depth_camera_callback);
 
-	pub = node.advertise<geometry_msgs::Pose>("output", 1);
+	pub = node.advertise<geometry_msgs::Pose>(DESIRED_GRASP_POSE_CHANNEL, 1);
 
 	ros::spin();
 	// TODO: When item is in view, work with point cloud to get location (in world frame) for arm to reach to pickup item