From 20bee1d43189fd79375c7731c7573a01d448fb83 Mon Sep 17 00:00:00 2001
From: Rodrigo <r.martin.nunez@student.tue.nl>
Date: Tue, 30 Apr 2024 20:49:00 +0200
Subject: [PATCH] feat: Add image topic as arg

---
 launch/interaction/speech_recognition.launch | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/launch/interaction/speech_recognition.launch b/launch/interaction/speech_recognition.launch
index 21e57f7..5477491 100644
--- a/launch/interaction/speech_recognition.launch
+++ b/launch/interaction/speech_recognition.launch
@@ -5,6 +5,7 @@
 	<arg name="machine" default="localhost"/>
     <arg name="dragonfly" default="true" />
     <arg name="kaldi" default="false" />
+    <arg name="qr_decoder_image_topic" default="image" />
 
     <arg name="model_path" default="$(env HOME)/data/speech_models/model/"/>
 
@@ -19,7 +20,7 @@
 		<node name="string_topic_answerer" pkg="hmi" type="string_topic_answerer" output="log"/>
 
 		<node name="qr_code_decoder" pkg="hmi" type="qr_code_decoder" output="log">
-		    <remap from="~image" to="/hero/head_rgbd_sensor/rgb/image_raw/compressed"/>
+		    <remap from="image" to="$(arg qr_decoder_image_topic)"/>
 		</node>
 
 		<!-- If we are on the real robot, launch the server, otherwise a dummy -->