From 678debf57aa348aff8deafd91b1feffa2c1fc170 Mon Sep 17 00:00:00 2001
From: Angel Santamaria-Navarro <asantamaria@iri.upc.edu>
Date: Wed, 30 Nov 2016 17:59:59 +0100
Subject: [PATCH] new frame_id in launch file
---
launch/iri_lidar_lite.launch | 1 +
src/lidar_lite_driver_node.cpp | 2 +-
2 files changed, 2 insertions(+), 1 deletion(-)
diff --git a/launch/iri_lidar_lite.launch b/launch/iri_lidar_lite.launch
index 3408a7b..0f9e15f 100644
--- a/launch/iri_lidar_lite.launch
+++ b/launch/iri_lidar_lite.launch
@@ -6,6 +6,7 @@
<param name="serial_num" type="string" value="A700evSl"/>
<param name="config_mode" type="int" value="1"/>
<param name="frame_id" type="string" value="/kinton/lidarlite_link"/>
+ <remap from="~range" to="kinton/lidarlite_range"/>
</node>
</launch>
diff --git a/src/lidar_lite_driver_node.cpp b/src/lidar_lite_driver_node.cpp
index 79ef6b4..25ba4e3 100644
--- a/src/lidar_lite_driver_node.cpp
+++ b/src/lidar_lite_driver_node.cpp
@@ -54,7 +54,7 @@ LidarLiteDriverNode::ThreadFunc(void)
this->range_msg_.field_of_view = 0.1;
this->range_msg_.min_range = 0;
this->range_msg_.max_range = 40;
- this->range_msg_.range = range;
+ this->range_msg_.range = range/100.0;
this->range_publisher_.publish(this->range_msg_);
// Increment range publisher counter.
--
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