From 80b19428ed8fe88c4109d9bd28a7888832d84702 Mon Sep 17 00:00:00 2001
From: wim <devnull@localhost>
Date: Wed, 7 Apr 2010 18:38:52 +0000
Subject: [PATCH] Fix tf prefix lookup ticket #3949

---
 robot_state_publisher/src/robot_state_publisher.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/robot_state_publisher/src/robot_state_publisher.cpp b/robot_state_publisher/src/robot_state_publisher.cpp
index b299e40..175c029 100644
--- 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_));