Changed the names of some of the variables in the dynamic reconfigure

file.

src/tiago_nav_module.cpp

@@ -40,7 +40,7 @@ CTiagoNavModule::CTiagoNavModule(const std::string &name,const std::string &name
   this->transform_orientation=false;
 
   // costmaps
-  this->clear_costmaps_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.cm_auto_clear_rate_hz),&CTiagoNavModule::clear_costmaps_call,this);
+  this->clear_costmaps_timer=this->module_nh.createTimer(ros::Duration(1.0/this->config.clear_costmap_auto_clear_rate_hz),&CTiagoNavModule::clear_costmaps_call,this);
   this->clear_costmaps_timer.stop();
   this->enable_auto_clear=false;
 
@@ -348,7 +348,7 @@ void CTiagoNavModule::reconfigure_callback(tiago_nav_module::TiagoNavModuleConfi
   this->dynamic_reconfigure(config,"nav_module");
   /* move base action parameters */
   this->move_base_action.dynamic_reconfigure(config,"move_base");
-  this->goal_frame_id=config.mb_frame_id;
+  this->goal_frame_id=config.move_base_frame_id;
   /* go to point of interest action parameters */
   this->poi_action.dynamic_reconfigure(config,"move_poi");
   /* waypoints action parameters */
@@ -357,9 +357,9 @@ void CTiagoNavModule::reconfigure_callback(tiago_nav_module::TiagoNavModuleConfi
 #endif
   // costmaps
   this->clear_costmaps.dynamic_reconfigure(config,"clear_costmap");
-  if(config.cm_enable_auto_clear)
+  if(config.clear_costmap_enable_auto_clear)
   {
-    this->clear_costmaps_timer.setPeriod(ros::Duration(1.0/config.cm_auto_clear_rate_hz));
+    this->clear_costmaps_timer.setPeriod(ros::Duration(1.0/config.clear_costmap_auto_clear_rate_hz));
     this->clear_costmaps_timer.start();
     this->enable_auto_clear=true;
   }
@@ -473,7 +473,7 @@ bool CTiagoNavModule::check_op_mode(pal_navigation_msgs::Acknowledgment &msg)
 bool CTiagoNavModule::go_to_orientation(double yaw,double heading_tol)
 {
   this->lock();
-  if(this->config.mb_cancel_prev && !this->is_finished())
+  if(this->config.move_base_cancel_prev && !this->is_finished())
     this->move_base_action.cancel();
   if(heading_tol!=DEFAULT_HEADING_TOL)
   {
@@ -516,7 +516,7 @@ bool CTiagoNavModule::go_to_orientation(double yaw,double heading_tol)
 bool CTiagoNavModule::go_to_position(double x,double y,double x_y_pos_tol)
 {
   this->lock();
-  if(this->config.mb_cancel_prev && !this->is_finished())
+  if(this->config.move_base_cancel_prev && !this->is_finished())
     this->move_base_action.cancel();
   if(x_y_pos_tol!=DEFAULT_X_Y_POS_TOL)
   {
@@ -561,7 +561,7 @@ bool CTiagoNavModule::go_to_position(double x,double y,double x_y_pos_tol)
 bool CTiagoNavModule::go_to_pose(double x,double y,double yaw,double heading_tol,double x_y_pos_tol)
 {
   this->lock();
-  if(this->config.mb_cancel_prev && !this->is_finished())
+  if(this->config.move_base_cancel_prev && !this->is_finished())
     this->move_base_action.cancel();
   if(heading_tol!=DEFAULT_HEADING_TOL)
   {
@@ -734,7 +734,7 @@ void CTiagoNavModule::costmaps_enable_auto_clear(double rate_hz)
   this->lock();
   if(!this->enable_auto_clear)
   {
-    this->clear_costmaps_timer.setPeriod(ros::Duration(1.0/config.cm_auto_clear_rate_hz));
+    this->clear_costmaps_timer.setPeriod(ros::Duration(1.0/config.clear_costmap_auto_clear_rate_hz));
     this->clear_costmaps_timer.start();
     this->enable_auto_clear=true;
   }