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vpe_publisher: rename some params and topics

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This commit is contained in:
Oleg Kalachev
2019-02-21 10:32:07 +03:00
parent 7d9d05120a
commit af244973c3
1 changed files with 3 additions and 3 deletions
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6
clever/src/vpe_publisher.cpp
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@@ -115,8 +115,8 @@ int main(int argc, char **argv) {
nh_priv.param<string>("frame_id", frame_id, "");
nh_priv.param<string>("child_frame_id", child_frame_id, "");
nh_priv.param<string>("mavros/local_position/frame_id", local_frame_id, "map");
nh_priv.param<string>("offset/frame_id", offset_frame_id, "");
offset_timeout = ros::Duration(nh_priv.param("offset/timeout", 5.0));
nh_priv.param<string>("offset_frame_id", offset_frame_id, "");
offset_timeout = ros::Duration(nh_priv.param("offset_timeout", 5.0));
if (!frame_id.empty()) {
ROS_INFO("vpe_publisher: using data from TF");
@@ -128,7 +128,7 @@ int main(int argc, char **argv) {
auto pose_cov_sub = nh_priv.subscribe<PoseWithCovarianceStamped>("pose_cov", 1, &callback);
//auto markers_sub = nh_priv.subscribe<aruco_pose::MarkerArray>("markers", 1, &callback);
vpe_pub = nh_priv.advertise<PoseStamped>("pose_pub", 1);
vpe_pub = nh_priv.advertise<PoseStamped>("vpe", 1);
//vpe_cov_pub = nh_priv_.advertise<PoseStamped>("pose_cov_pub", 1);
vpe.header.stamp = ros::Time(0);