minor fixes

Author: rlnav

Diff for: launch/lss_demo.launch

@@ -4,18 +4,18 @@
     <arg name="diffphys" default="false" doc="Whether to run the diff physics node or not"/>
     <arg name="slam" default="false" doc="Whether to run the SLAM node or not"/>
     <arg name="lss_debug" default="false"/>
-    <arg name="weights" default="$(dirname)/../config/weights/lss/train_lss.pt"/>
+    <arg name="weights" default="$(dirname)/../config/weights/lss/lss.pt"/>
 
-    <arg name="bag" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44.bag"/>
-<!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-10-27-unhost-final-demo/husky_2022-10-27-15-33-57.bag"/> -->
+<!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44.bag"/> -->
+    <arg name="bag" default="$(dirname)/../data/robingas/data/22-10-27-unhost-final-demo/husky_2022-10-27-15-33-57.bag"/>
     <arg name="img_topics" default="['/camera_front/image_color/compressed',
                                      '/camera_left/image_color/compressed',
-                                     '/camera_right/image_color/compressed',
-                                     '/camera_rear/image_color/compressed']"/>
+                                     '/camera_rear/image_color/compressed',
+                                     '/camera_right/image_color/compressed']"/>
     <arg name="camera_info_topics" default="['/camera_front/camera_info',
                                              '/camera_left/camera_info',
-                                             '/camera_right/camera_info',
-                                             '/camera_rear/camera_info']"/>
+                                             '/camera_rear/camera_info',
+                                             '/camera_right/camera_info']"/>
     <arg name="calib_path" default="$(dirname)/../data/robingas/data/22-09-27-unhost/husky/husky_2022-09-27-15-01-44_trav/calibration/"/>
 
 <!--     <arg name="bag" default="$(dirname)/../data/robingas/data/22-08-12-cimicky_haj/marv/ugv_2022-08-12-15-18-34.bag"/> -->

Diff for: nodes/hm_estimator

@@ -118,7 +118,7 @@ class HeightMapEstimator:
                                                      time=msg.header.stamp,
                                                      timeout=rospy.Duration(0.5))
             except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException):
-                rospy.logwarn('Could not get transform from %s to %s' % (msg.header.frame_id, self.cfg.robot_frame))
+                rospy.logwarn('Could not get transform from %s to %s' % (msg.header.frame_id, self.robot_frame))
                 return
             Tr = numpify(tf.transform).reshape((4, 4))
             points = np.matmul(Tr[:3, :3], points.T).T + Tr[:3, 3]