Fixed rover_camera node names so they correspond to the resolution. Also some compile option changes.

rover/rover_camera/CMakeLists.txt

@@ -1,6 +1,8 @@
 cmake_minimum_required(VERSION 2.8)
 project(rover_camera)
 
+add_compile_options(-std=c++11)
+
 find_package(catkin REQUIRED COMPONENTS cv_bridge image_transport message_generation sensor_msgs)
 
 # add the resized image message

rover/rover_camera/launch/example.launch

@@ -1,22 +1,23 @@
 <launch>
   <group ns="cameras">
-    <node name="camera_name" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" output="screen">
+    <node name="camera_undercarriage" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 1" output="screen">
-      <param name="device_path" value="/dev/video0"/>
+      <param name="device_path" value="/dev/rover/camera_undercarriage"/>
     </node>
 
-    <!--
     <node name="main_navigation" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 2" output="screen" >
       <param name="device_path" value="/dev/rover/camera_main_navigation" />
     </node>
 
+
     <node name="gimbal" pkg="rover_camera" type="rover_camera" launch-prefix="taskset -c 3" output="screen" >
       <param name="device_path" value="/dev/rover/camera_gimbal" />
     </node>
-  -->
+
 
   </group>
-
+  <!--
   <node name="image_view" pkg="image_view" type="image_view" launch-prefix="taskset -c 4" output="screen">
     <remap from="image" to="/cameras/camera_name/image_720p"/>
   </node>
+  -->
 </launch>

rover/rover_camera/src/rover_camera.cpp

@@ -1,4 +1,4 @@
-#include <string.h>
+#include <string>
 #include <iostream>
 
 #include <ros/ros.h>
@@ -41,11 +41,14 @@ int main(int argc, char** argv)
         return -1;
     }
 
+    std::string large_image_node_name = "image_" + std::to_string(large_image_width) + "x" + std::to_string(large_image_height);
+    std::string small_image_node_name = "image_" + std::to_string(small_image_width) + "x" + std::to_string(small_image_height);
+
     image_transport::ImageTransport full_res_image_transport(node_handle);
     image_transport::ImageTransport lower_res_image_transport(node_handle);
 
-    image_transport::Publisher full_size_publisher = full_res_image_transport.advertise("image_720p", 1);
+    image_transport::Publisher full_size_publisher = full_res_image_transport.advertise(large_image_node_name, 1);
-    image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise("image_360p", 1);
+    image_transport::Publisher lower_size_publisher = lower_res_image_transport.advertise(small_image_node_name, 1);
 
     cv::Mat image;
     cv::Mat image_smaller;