Fixed debug message printed in publish()

RosAria.cpp

@@ -530,7 +530,7 @@ void RosAriaNode::publish()
   pos = robot->getPose();
   tf::poseTFToMsg(tf::Transform(tf::createQuaternionFromYaw(pos.getTh()*M_PI/180), tf::Vector3(pos.getX()/1000,
     pos.getY()/1000, 0)), position.pose.pose); //Aria returns pose in mm.
-  position.twist.twist.linear.x = robot->getVel()/1000; //Aria returns velocity in mm/s.
+  position.twist.twist.linear.x = robot->getVel()/1000.0; //Aria returns velocity in mm/s.
   position.twist.twist.linear.y = robot->getLatVel()/1000.0;
   position.twist.twist.angular.z = robot->getRotVel()*M_PI/180;
   
@@ -539,17 +539,16 @@ void RosAriaNode::publish()
   position.header.stamp = ros::Time::now();
   pose_pub.publish(position);
 
-  ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, y: %f, angle: %f; linear vel x: %f, y: %f; angular vel z: %f", 
+  ROS_DEBUG("RosAria: publish: (time %f) pose x: %f, pose y: %f, pose angle: %f; linear vel x: %f, vel y: %f; angular vel z: %f", 
     position.header.stamp.toSec(), 
     (double)position.pose.pose.position.x,
     (double)position.pose.pose.position.y,
     (double)position.pose.pose.orientation.w,
-    (double) position.twist.twist.linear.x,
-    (double) position.twist.twist.linear.y,
-    (double) position.twist.twist.angular.z
+    (double)position.twist.twist.linear.x,
+    (double)position.twist.twist.linear.y,
+    (double)position.twist.twist.angular.z
   );
 
-
   // publishing transform odom->base_link
   odom_trans.header.stamp = ros::Time::now();
   odom_trans.header.frame_id = frame_id_odom;