From 4e72237dee5248dda44cfc1b920e95cf76285ae2 Mon Sep 17 00:00:00 2001 From: meeussen Date: Wed, 9 Sep 2009 16:45:42 +0000 Subject: [PATCH] make robot state publisher compabible with ros 0.8 --- robot_state_publisher/src/joint_state_listener.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/robot_state_publisher/src/joint_state_listener.cpp b/robot_state_publisher/src/joint_state_listener.cpp index 3ef26a1..89ba292 100644 --- a/robot_state_publisher/src/joint_state_listener.cpp +++ b/robot_state_publisher/src/joint_state_listener.cpp @@ -46,16 +46,16 @@ using namespace robot_state_publisher; JointStateListener::JointStateListener(const KDL::Tree& tree) - : publish_rate_(0.0), state_publisher_(tree) + : n_("~"), publish_rate_(0.0), state_publisher_(tree) { // set publish frequency double publish_freq; - n_.param("~publish_frequency", publish_freq, 50.0); + n_.param("publish_frequency", publish_freq, 50.0); publish_rate_ = Rate(publish_freq); // subscribe to mechanism state string joint_state_topic; - n_.param("~joint_state_topic", joint_state_topic, string("joint_states")); + n_.param("joint_state_topic", joint_state_topic, string("/joint_states")); joint_state_sub_ = n_.subscribe(joint_state_topic, 1, &JointStateListener::callbackJointState, this);; };