Read nbv params from the rosparam server

src/active_grasp/controller.py

@@ -34,7 +34,7 @@ class GraspController:
         self.min_z_dist = rospy.get_param("~camera/min_z_dist")
         self.control_rate = rospy.get_param("~control_rate")
         self.linear_vel = rospy.get_param("~linear_vel")
-        self.policy_rate = rospy.get_param("~policy_rate")
+        self.policy_rate = rospy.get_param("policy/rate")
 
     def init_service_proxies(self):
         self.reset_env = rospy.ServiceProxy("reset", Reset)

src/active_grasp/nbv.py

@@ -57,8 +57,8 @@ class NextBestView(MultiViewPolicy):
     def __init__(self):
         super().__init__()
         self.min_z_dist = rospy.get_param("~camera/min_z_dist")
-        self.max_views = 50
-        self.min_gain = 0.0
+        self.max_views = rospy.get_param("nbv_grasp/max_views")
+        self.min_gain = rospy.get_param("nbv_grasp/min_gain")
 
     def activate(self, bbox, view_sphere):
         super().activate(bbox, view_sphere)

src/active_grasp/policy.py

@@ -118,9 +118,12 @@ class SingleViewPolicy(Policy):
 
 
 class MultiViewPolicy(Policy):
+    def __init__(self):
+        super().__init__()
+        self.T = rospy.get_param("policy/window_size")
+
     def activate(self, bbox, view_sphere):
         super().activate(bbox, view_sphere)
-        self.T = 10  # Window size of grasp prediction history
         self.qual_hist = np.zeros((self.T,) + (40,) * 3, np.float32)
 
     def integrate(self, img, x, q):