Made drone name a config param

Author: eirisak

stonefish_labeling/sonar_segmentation/config/sonar_segmentation.yaml

@@ -12,7 +12,11 @@
 
     service:
       respawn_service: "/stonefish_ros2/respawn_robot"
+      drone_name: "orca" # Name of the drone for respawn service.
 
     data_format:
       fov: 120.0 # Field of view of the sonar and camera in degrees.
       sonar_range: 20.0 # Maximum range of the sonar in meters.
+    
+
+    

stonefish_labeling/sonar_segmentation/include/sonar_segmentation/sonar_segmentation_node.hpp

@@ -67,6 +67,7 @@ class SonarSegmentationNode : public rclcpp::Node
     double fov_ = 0.0;
     double vertical_fov_ = 0.0;
     double sonar_range_ = 0.0;
+    std::string drone_name_;
     cv::Mat camera_k_;
     std::string output_frame_id_;
 };

stonefish_labeling/sonar_segmentation/src/sonar_segmentation_node.cpp

@@ -21,6 +21,7 @@ void SonarSegmentationNode::declare_parameters() {
     this->declare_parameter<std::string>("topic.segmentation_camera_info_topic");
 
     this->declare_parameter<std::string>("service.respawn_service");
+    this->declare_parameter<std::string>("service.drone_name");
 
     this->declare_parameter<double>("data_format.fov");
     this->declare_parameter<double>("data_format.sonar_range");
@@ -30,6 +31,9 @@ void SonarSegmentationNode::declare_parameters() {
 
     sonar_range_ =
         this->get_parameter("data_format.sonar_range").as_double();
+
+    drone_name_ =
+        this->get_parameter("service.drone_name").as_string();
 }
 
 void SonarSegmentationNode::setup_publishers_and_subscribers() {
@@ -117,7 +121,7 @@ void SonarSegmentationNode::callRespawnService() {
     std::uniform_real_distribution<> disty(-13, 2);
     std::uniform_real_distribution<> distyaw(0, 360);
 
-    request->name = "orca";
+    request->name = drone_name_;
 
     request->origin.position.x = distx(gen);
     request->origin.position.y = disty(gen);