From f4cf5ec51af20516b985c1eacdad5681b012e92f Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 14 Jul 2020 17:17:25 +0200
Subject: [PATCH] Changed the state_publihser type to the robot_state_publihser
type because it is deprecated.
---
launch/bno055_imu_sim.launch | 2 +-
launch/microstrain_imu_sim.launch | 2 +-
launch/mpu9250_imu_sim.launch | 2 +-
3 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/launch/bno055_imu_sim.launch b/launch/bno055_imu_sim.launch
index 1b1c672..648101b 100644
--- a/launch/bno055_imu_sim.launch
+++ b/launch/bno055_imu_sim.launch
@@ -22,7 +22,7 @@
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find iri_bno055_imu_description)/urdf/bno055_imu_example.xacro'" />
- <node pkg="robot_state_publisher" type="state_publisher" name="bno055_tf_broadcaster">
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="bno055_tf_broadcaster">
<param name="tf_prefix" type="string" value="/bno055"/>
<param name="publish_frequency" type="double" value="20.0"/>
</node>
diff --git a/launch/microstrain_imu_sim.launch b/launch/microstrain_imu_sim.launch
index 2999382..34c3b8b 100644
--- a/launch/microstrain_imu_sim.launch
+++ b/launch/microstrain_imu_sim.launch
@@ -21,7 +21,7 @@
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find iri_microstrain_imu_description)/urdf/microstrain_imu_example.xacro'" />
- <node pkg="robot_state_publisher" type="state_publisher" name="microstrain_tf_broadcaster">
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="microstrain_tf_broadcaster">
<param name="tf_prefix" type="string" value="/microstrain"/>
<param name="publish_frequency" type="double" value="20.0"/>
</node>
diff --git a/launch/mpu9250_imu_sim.launch b/launch/mpu9250_imu_sim.launch
index 6b25239..226f823 100644
--- a/launch/mpu9250_imu_sim.launch
+++ b/launch/mpu9250_imu_sim.launch
@@ -22,7 +22,7 @@
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find iri_mpu9250_imu_description)/urdf/mpu9250_imu_example.xacro'" />
- <node pkg="robot_state_publisher" type="state_publisher" name="mpu9250_tf_broadcaster">
+ <node pkg="robot_state_publisher" type="robot_state_publisher" name="mpu9250_tf_broadcaster">
<param name="tf_prefix" type="string" value="/mpu9250"/>
<param name="publish_frequency" type="double" value="20.0"/>
</node>
--
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