Changed how background image is found.

src/image_display.cc

 #include <OGRE/OgreSceneNode.h>
 #include <OGRE/OgreSceneManager.h>
 
+#include <cstdlib>
+
 #include <tf/transform_listener.h>
 
 #include <rviz/visualization_manager.h>
@@ -11,6 +13,8 @@
 #include <rviz/properties/property.h>
 #include <rviz/frame_manager.h>
 
+#include "ros/package.h"
+
 #include "image_visual.h"
 
 #include "image_display.h"
@@ -54,8 +58,20 @@ namespace lrs_rviz {
     if ((image_filename == "") || (dx <= 0) || (dy <= 0)) {
       return;
     }
+
+    
+    std::string path = ros::package::getPath("lrs_kdb_base_knowledge");
+    if (path == "") {
+      path = std::string(std::getenv("HOME"));
+    } else {
+      path = path + "/data/orthos";
+    }
+    std::string full_image_filename = path + "/" + image_filename;
+
+    ROS_ERROR("full_image_filename: %s", full_image_filename.c_str());
+    
     image_visual = new ImageVisual(scene_node_, context_, 
-				   image_filename, dx, dy,
+				   full_image_filename, dx, dy,
 				   x_offset, y_offset, z_offset,
 				   this);
     updateVisualVisible();
@@ -154,14 +170,14 @@ namespace lrs_rviz {
   
   }
 
-void ImageDisplay::onEnable() {
-  load();
-  image_visual->setVisualVisible( true );
-}
+  void ImageDisplay::onEnable() {
+    load();
+    image_visual->setVisualVisible( true );
+  }
 
-void ImageDisplay::onDisable() {
-  image_visual->setVisualVisible( false );
-}
+  void ImageDisplay::onDisable() {
+    image_visual->setVisualVisible( false );
+  }
 
 
 }