changed launches so that parameters are correctly read

launch/publish_wam_chaperone_link.launch

@@ -19,8 +19,10 @@
 	
 	<node pkg="iri_htc_vive_tracker"
 		type = "iri_htc_vive_tracker"
-		name = "iri_htc_vive_tracker" >
-         <param name="target_frame" type="string" value="$(arg target_frame)"/>
+		name = "iri_htc_vive_tracker" 
+        output = "screen">
+         <param name="~target_frame_name" type="string" value="$(arg target_frame)"/>
+         <remap from="~new_pose" to="/iri_wam/pose_surface"/>
 
 	</node>
 </launch>

launch/wam_follow_tracker.launch → launch/wam_follow_device.launch

 <launch>
        <!-- Initialize htc vive and publish transformation -->
+    <arg name="device" default="tracker_1"/>
 	<include file="$(find iri_htc_vive_tracker)/launch/publish_wam_chaperone_link.launch">
 	    <!-- Initialize tf-to-pose node from chaperone to tracker1-->
-    	<arg name="target_frame" value ="tracker_1"/>
-
+    	<arg name="target_frame" value ="$(arg device)"/>
 	</include>
-        <remap from="iri_htc_vive_tracker/new_pose" to="iri_wam/pose_surface" />
 </launch>

src/htc_vive_tracker_alg_node.cpp

@@ -27,7 +27,7 @@ HtcViveTrackerAlgNode::HtcViveTrackerAlgNode(void) :
         this->public_node_handle_.getParam("target_frame_name",this->target_frame_name_);
     }
     else {
-        ROS_INFO("No param set for target_frame");
+        ROS_ERROR("No param set for target_frame");
         this->frame_names_set = false;
     }
     
@@ -116,7 +116,6 @@ void HtcViveTrackerAlgNode::mainNodeThread(void)
   this->PublishPoseOfDeviceToFollow();
   
 
-
 }
 
 /*  [subscriber callbacks] */