How to set a node to subscribe to a specific topic?
I have a gazebo simulation setup with multiple stereo camera. The stereo camera has their topic set to publish in the following format:
stereo_1/left/image_raw
stereo_1/right/image_raw
stereo_2/left/image_raw
stereo_2/right/image_raw
I am using a package that calls upon the opencv_app edge detection node:
<node name="edge_detection" pkg="opencv_apps" type="edge_detection" output="$(arg stdout)" >
<remap from="image" to="$(arg camera_name)/left/$(arg image_topic)" />
<rosparam>
use_camera_info: False
debug_view: False
edge_type: 0
canny_threshold1: 100
canny_threshold2: 200
apertureSize: 3
apply_blur_pre: True
postBlurSize: 13
postBlurSigma: 3.2
apply_blur_post: False
L2gradient: False
</rosparam>
</node>
How can I set which stereo camera does the edge detection get its image from? Currently it gets it only from the stereo_1/left/image_raw.