Fix tf prefix lookup ticket #3949

2010-04-07 18:38:52 +00:00 · 2010-04-07 18:38:52 +00:00 · 80b19428ed
parent 2f37d1c4f0
commit 80b19428ed
1 changed files with 3 additions and 1 deletions
--- a/robot_state_publisher/src/robot_state_publisher.cpp
+++ b/robot_state_publisher/src/robot_state_publisher.cpp
@ -51,7 +51,9 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree)
 {
  // get tf prefix
  NodeHandle n_local("~");
-  n_local.param("tf_prefix", tf_prefix_, string());
+  std::string searched_param;
+  n_local.searchParam("tf_prefix", searched_param);
+  n_local.param(searched_param, tf_prefix_, std::string());

  // build tree solver
  solver_.reset(new TreeFkSolverPosFull_recursive(tree_));