Install resource folder and use correct topic

* Resource folder needs to be installed, and will be empty for people
  who don't have sargans.tif
* RVIZ was subscribed to the wrong topic because not all map_publisher
  nodes were launched with a namespace

Signed-off-by: Ryan Friedman <[email protected]>

CMakeLists.txt

@@ -93,6 +93,11 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}/
 )
 
+install(DIRECTORY
+  resources
+  DESTINATION share/${PROJECT_NAME}/
+)
+
 # Test
 include(CTest)
 if(BUILD_TESTING)

launch/load_tif_launch.xml

@@ -3,12 +3,12 @@
     <arg name="location" default="sargans"/>
     <node pkg="tf2_ros" exec="static_transform_publisher" name="world_map" args="--frame-id world --child-frame-id map"/>
 
-    <node pkg="grid_map_geo" exec="test_tif_loader" name="test_tif_loader" output="screen">
+    <node pkg="grid_map_geo" exec="test_tif_loader" name="test_tif_loader" namespace="grid_map_geo" output="screen">
         <param name="tif_path" value="$(find-pkg-share grid_map_geo)/resources/sargans.tif"/>
         <param name="tif_color_path" value="$(find-pkg-share grid_map_geo)/resources/sargans_color.tif"/>
     </node>
 
     <group if="$(var rviz)">
-        <node exec="rviz2" name="rviz2" pkg="rviz2"  args="-d $(find-pkg-share grid_map_geo)/rviz/config.rviz" />
+        <node pkg="rviz2" exec="rviz2" name="rviz2" args="-d $(find-pkg-share grid_map_geo)/rviz/config.rviz"/>
     </group>
 </launch>