Fix parameter reading to use private parameters.

diff --git a/src/odometry_publisher.cpp b/src/odometry_publisher.cpp
index f8cb7a5..83c3301 100644 (file)
--- a/src/odometry_publisher.cpp
+++ b/src/odometry_publisher.cpp
@@ -64,13 +64,14 @@ OdometryPublisher::OdometryPublisher(ros::NodeHandle node):
 {
        node_=node;
 
-       if(!node_.getParam("odometry_publisher/wheel_separation",wheelBase_))
+       ros::NodeHandle n("~");
+       if(!n.getParam("wheel_separation",wheelBase_))
        {
                ROS_ERROR("No 'wheel_separation' in node %s.",node_.getNamespace().c_str());
                return;
        }
                
-       if(!node_.getParam("odometry_publisher/wheel_radius",wheelRadius_))
+       if(!n.getParam("wheel_radius",wheelRadius_))
        {
                ROS_ERROR("No 'wheel_radius' in node %s.",node_.getNamespace().c_str());
                return;
@@ -80,10 +81,10 @@ OdometryPublisher::OdometryPublisher(ros::NodeHandle node):
        phi_.setZero();
        
        odom_frame_id_="odom";
-       node_.param("odom_frame_id",odom_frame_id_,odom_frame_id_);
+       n.param("odom_frame_id",odom_frame_id_,odom_frame_id_);
                
        base_frame_id_="base_link";
-       node_.param("base_frame_id",base_frame_id_,base_frame_id_);
+       n.param("base_frame_id",base_frame_id_,base_frame_id_);
 
        odomPub_=node_.advertise<nav_msgs::Odometry>("odom",100);
        
@@ -194,7 +195,8 @@ int main(int argc,char* argv[])
        OdometryPublisher odomPublisher(node);
        
        int rate=100;
-       node.param("publish_rate",rate,rate);
+       ros::NodeHandle n("~");
+       n.param("publish_rate",rate,rate);
 
        ros::Rate loop(rate);
        while(ros::ok())