removed cout

graph_localization/launch/3d_mcl_ncfm2018.launch

@@ -12,9 +12,11 @@
 <arg name="robot_prefix" default="robot$(arg robot_id)" />
 
 <include file="$(find graph_map)/launch/VelodyneConvertMotionCompensation.launch" >
+
   <arg name="robot_prefix" value="$(arg robot_prefix)" />
-  <arg name="input_points_topic" value="$(arg robot_prefix)/velodyne_packets" />
-  <arg name="output_points_topic" value="$(arg robot_prefix)/velodyne_points_unwarped" />
+  <arg name="input_points_topic" value="$(arg robot_prefix)/sensors/velodyne_packets" />
+  <arg name="output_points_topic" value="$(arg robot_prefix)/sensors/velodyne_points_unwarped" />
+
   <arg name="link" default="$(arg robot_prefix)/velodyne_link" />
 </include>
 

graph_localization/src/ndt_mcl_localization.cpp

@@ -178,6 +178,7 @@ class localisation_node {
 
     initialized=true;
   }
+
   void VeloCallback(const velodyne_msgs::VelodyneScan::ConstPtr &msg){
     pcl::PointCloud<pcl::PointXYZ> cloud;
 
@@ -195,14 +196,13 @@ class localisation_node {
       }
       pnts.clear();
     }
-    std::cout<<"Velodyne Callback :"<<msg->header.stamp<<", size="<<cloud.size()<<std::endl;
     this->processFrame(cloud,t_cloud_end);
 
   }
   void PCCallback(const sensor_msgs::PointCloud2::ConstPtr& msg){
     pcl::PointCloud<pcl::PointXYZ> pcl_cloud;
     pcl::fromROSMsg (*msg, pcl_cloud);
-    std::cout<<"Callback :"<<msg->header.stamp<<", size="<<pcl_cloud.size()<<std::endl;
+
     this->processFrame(pcl_cloud, msg->header.stamp);
   }