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tf publishes on new topic: \tf. See ticket #2381

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meeussen 2009-09-09 00:28:23 +00:00
parent 6285603c53
commit c30e324712
1 changed files with 1 additions and 1 deletions
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robot_state_publisher/src/robot_state_publisher.cpp
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@ -56,7 +56,7 @@ RobotStatePublisher::RobotStatePublisher(const Tree& tree)
solver_.reset(new TreeFkSolverPosFull_recursive(tree_)); solver_.reset(new TreeFkSolverPosFull_recursive(tree_));
// advertise tf message // advertise tf message
tf_publisher_ = n_.advertise<tf::tfMessage>("/tf_message", 5); tf_publisher_ = n_.advertise<tf::tfMessage>("/tf", 5);
tf_msg_.transforms.resize(tree.getNrOfSegments()-1); tf_msg_.transforms.resize(tree.getNrOfSegments()-1);
// get the 'real' root segment of the tree, which is the first child of "root" // get the 'real' root segment of the tree, which is the first child of "root"