Used the constructor argument NodeHandle to initialize the private_node_handle_.

include/iri_base_driver/iri_base_driver_node.h

@@ -340,7 +340,7 @@ IriBaseNodeDriver<Driver>::IriBaseNodeDriver(const ros::NodeHandle &nh) :
   loop_rate_(DEFAULT_RATE),
   diagnostic_(),
   dsrv_(private_node_handle_),
-  private_node_handle_("~"),
+  private_node_handle_(nh),
   driver_status_standard_diagnostic_("Driver Status", boost::bind(&IriBaseNodeDriver::statusDiagnostic, this, _1))
 {
   ROS_DEBUG("IriBaseNodeDriver::Constructor");
@@ -643,7 +643,7 @@ int main(int argc, char **argv, std::string node_name)
   ros::init(argc, argv, node_name);
 
   // define and launch generic algorithm implementation object
-  ros::NodeHandle nh;
+  ros::NodeHandle nh(ros::this_node::getName());
   DriverType driver(nh);
   driver.spin();