Can someone please elaborate the following?

[haadiakhter]

Can some one please tell elaborate the meaning of the follwing line:
“With the following line, we can enable/disable the output of a cloud containing the object points of the graspable detections.”
written under
nh_.getParam(“use_debug”, debug_);

and also

world_frame_ = “base_link”;
nh_.getParam(“frame_id”, world_frame_);

what is the need for providing it a frame and too world frame?

[albertoezquerro]

Hello @haadiakhter ,

1. use_debug is a parameter used by the node. If this parameter is set to True, the node will publish 2 additional Point Clouds: one containing the detected surfaces and another one containing the detected objects. This is what allows you to visualize the detections in RViz. If this parameter is set to False, these additional point clouds are not published.

2. This line nh_.getParam(“frame_id”, world_frame_) allows you to retrieve the parameter named “frame_id” and save its value into the world_frame_ variable.