diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp index 426f2225d9ef7dfa14bbaa7788d1ab3f39009bfb..fdc0a6959ef0b18dcb5e1ae862361c543819953a 100644 --- a/src/lidar_lite_driver_node.cpp +++ b/src/lidar_lite_driver_node.cpp @@ -12,10 +12,11 @@ LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh) // Read from launch file std::string serial; int config_mode; - this->public_node_handle_.param<std::string>("lidar_lite_driver_node/serial_num", serial, - "A60124OL"); - this->public_node_handle_.param<int>("lidar_lite_driver_node/config_mode", config_mode, 0); - this->public_node_handle_.param<std::string>("lidar_lite_driver_node/frame_id", this->frame_id_, + ros::NodeHandle node_handle; + node_handle.param<std::string>("/iri_lidar_lite_driver/serial_num", serial, + ""); + node_handle.param<int>("/iri_lidar_lite_driver/config_mode", config_mode, 0); + node_handle.param<std::string>("/iri_lidar_lite_driver/frame_id", this->frame_id_, "lidar_lite"); // Set device parameters @@ -23,7 +24,7 @@ LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh) // [init publishers] this->range_publisher_ = - this->public_node_handle_.advertise<sensor_msgs::Range>("range", 100); + this->public_node_handle_.advertise<sensor_msgs::Range>("lidarlite_range/range", 100); this->range_seq_ = 0; // [init subscribers]