From 2372cdd7db38e62c9e6ff7d9ddf357fc4574ab06 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Fri, 19 Aug 2022 00:17:34 +0300
Subject: [PATCH] vpe_publisher: fix reading map and base link frame_id from
 mavros

---
 clover/src/vpe_publisher.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/clover/src/vpe_publisher.cpp b/clover/src/vpe_publisher.cpp
index b28d9f6e..4a7778d7 100644
--- a/clover/src/vpe_publisher.cpp
+++ b/clover/src/vpe_publisher.cpp
@@ -124,8 +124,8 @@ int main(int argc, char **argv) {
 
 	nh_priv.param<string>("frame_id", frame_id, "");
 	nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
-	nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
-	nh_priv.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
+	nh.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
+	nh.param<string>("mavros/local_position/tf/child_frame_id", child_frame_id, "base_link");
 	offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 3.0));
 
 	if (!frame_id.empty()) {