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kdl_parser
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make robot state publisher compabible with ros 0.8

This commit is contained in:
meeussen 2009-09-09 16:45:42 +00:00
parent c30e324712
commit 4e72237dee
1 changed files with 3 additions and 3 deletions
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6
robot_state_publisher/src/joint_state_listener.cpp
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@ -46,16 +46,16 @@ using namespace robot_state_publisher;
JointStateListener::JointStateListener(const KDL::Tree& tree) JointStateListener::JointStateListener(const KDL::Tree& tree)
: publish_rate_(0.0), state_publisher_(tree) : n_("~"), publish_rate_(0.0), state_publisher_(tree)
{ {
// set publish frequency // set publish frequency
double publish_freq; double publish_freq;
n_.param("~publish_frequency", publish_freq, 50.0); n_.param("publish_frequency", publish_freq, 50.0);
publish_rate_ = Rate(publish_freq); publish_rate_ = Rate(publish_freq);
// subscribe to mechanism state // subscribe to mechanism state
string joint_state_topic; 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);; joint_state_sub_ = n_.subscribe(joint_state_topic, 1, &JointStateListener::callbackJointState, this);;
}; };