Remove any "." characters from topic/tf names (not allowed)

LaserPublisher.cpp

@@ -10,6 +10,8 @@
 
 #include <math.h>
 
+#include <boost/algorithm/string.hpp>
+
 // TODO publish pointcloud of cumulative readings in separate topic?
 // TODO generic pointcloud sensor publisher (seprate point cloud stuff there)
 // TODO make  similar sonar publisher?
@@ -28,8 +30,10 @@ LaserPublisher::LaserPublisher(ArLaser *_l, ros::NodeHandle& _n, bool _broadcast
   laser->addReadingCB(&laserReadingsCB);
   laser->unlockDevice();
   std::string laserscan_name(laser->getName());
+  boost::erase_all(laserscan_name,".");
   laserscan_name += "_laserscan";
   std::string pointcloud_name(laser->getName());
+  boost::erase_all(pointcloud_name,".");
   pointcloud_name += "_pointcloud";
   laserscan_pub = node.advertise<sensor_msgs::LaserScan>(laserscan_name, 20);
   pointcloud_pub = node.advertise<sensor_msgs::PointCloud>(pointcloud_name, 50);