From 5a85592a9dbfd2d2b990bf59f3a41362a35ecc3c Mon Sep 17 00:00:00 2001
From: asantamaria <angel.santamaria.navarro@jpl.nasa.gov>
Date: Tue, 16 Apr 2019 10:13:56 -0700
Subject: [PATCH] Update code according with new driver naming convention
---
include/lidar_lite_driver.h | 4 ++--
launch/iri_lidar_lite.launch | 1 +
src/lidar_lite_driver_node.cpp | 10 +++++-----
3 files changed, 8 insertions(+), 7 deletions(-)
diff --git a/include/lidar_lite_driver.h b/include/lidar_lite_driver.h
index a1a0d88..176afab 100644
--- a/include/lidar_lite_driver.h
+++ b/include/lidar_lite_driver.h
@@ -30,8 +30,8 @@
#include <iri_base_driver/iri_base_driver.h>
#include <iri_lidar_lite_driver/LidarLiteDriverConfig.h>
-#include <iridrivers/lidar_lite.h>
-#include <iridrivers/lidar_lite_exceptions.h>
+#include <iridrivers/lidar_lite/lidar_lite.h>
+#include <iridrivers/lidar_lite/lidar_lite_exceptions.h>
/**
* \brief IRI ROS Specific Driver Class
diff --git a/launch/iri_lidar_lite.launch b/launch/iri_lidar_lite.launch
index 57f50ca..4b5197b 100644
--- a/launch/iri_lidar_lite.launch
+++ b/launch/iri_lidar_lite.launch
@@ -2,6 +2,7 @@
<launch>
+ <node pkg="iri_lidar_lite_driver" type="iri_lidar_lite_driver" name="iri_lidar_lite_driver" output="screen">
<node pkg="iri_lidar_lite" type="iri_lidar_lite" name="iri_lidar_lite" output="screen">
<param name="serial_num" type="string" value="A700evSl"/>
<param name="config_mode" type="int" value="0"/>
diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp
index 3ab5695..426f222 100644
--- a/src/lidar_lite_driver_node.cpp
+++ b/src/lidar_lite_driver_node.cpp
@@ -7,15 +7,15 @@ LidarLiteDriverNode::LidarLiteDriverNode(ros::NodeHandle& nh)
// , RunThread_(true)
// , Thread_(boost::bind(&LidarLiteDriverNode::ThreadFunc, this))
{
- this->setRate(30);
+ this->setRate(100);
// Read from launch file
std::string serial;
int config_mode;
- this->public_node_handle_.param<std::string>("serial_num", serial,
- "A700evSl");
- this->public_node_handle_.param<int>("config_mode", config_mode, 0);
- this->public_node_handle_.param<std::string>("frame_id", this->frame_id_,
+ 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_,
"lidar_lite");
// Set device parameters
--
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