ros/src/dirt_detection/src/dirt_detector.cpp
//For publishing to the 'detected_dirt' topic
For publishing to the 'detected_dirt' topic
For publishing to the ' detected_dirt ' topic
void DirtDetector::PublishDetectedDirt()
{
    ROS_INFO("[%s]: Publisher of topic '%s'", node_name_.c_str(), detected_dirt_topic_.c_str());
    detected_dirt_publisher = node_.advertise<goal_manager_msgs::GoalObject>(detected_dirt_topic_, 100);
}
void DirtDetector :: PublishDetectedDirt ( ) { ROS_INFO ( " " , node_name_ . c_str ( ) , detected_dirt_topic_ . c_str ( ) ) ; detected_dirt_publisher = node_ . advertise < goal_manager_msgs :: GoalObject > ( detected_dirt_topic_ , 100 ) ; }
For publishing to the 'detected_dirt' topic
For publishing to the ' detected_dirt ' topic