From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 19 Jul 2021 05:53:02 +0000 (-0300)
Subject: Fix parameter reading to use private parameters.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=4b8fa7fa7e157954906e70180b663d8efc426f8f;p=arc_odometry.git

Fix parameter reading to use private parameters.
---

diff --git a/src/odometry_publisher.cpp b/src/odometry_publisher.cpp
index f8cb7a5..83c3301 100644
--- 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())