From 4b8fa7fa7e157954906e70180b663d8efc426f8f Mon Sep 17 00:00:00 2001 From: Walter Fetter Lages Date: Mon, 19 Jul 2021 02:53:02 -0300 Subject: [PATCH] Fix parameter reading to use private parameters. --- src/odometry_publisher.cpp | 12 +++++++----- 1 file changed, 7 insertions(+), 5 deletions(-) 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("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()) -- 2.12.0