Merge branch 'dev/fixes_updates_and_maintenance' into 'master'

Dev/fixes updates and maintenance

See merge request !1

cfg/LidarLiteDriver.cfg

@@ -40,6 +40,6 @@ gen = ParameterGenerator()
 
 #       Name                       Type       Reconfiguration level            Description                       Default   Min   Max
 #gen.add("velocity_scale_factor",  double_t,  SensorLevels.RECONFIGURE_STOP,   "Maximum velocity scale factor",  0.5,      0.0,  1.0)
-gen.add("Config_mode", int_t, 0, "LidarLite configuration mode", 0, 1, 5)
+gen.add("config_mode", int_t, 0, "LidarLite configuration mode", 0, 0, 5)
 
 exit(gen.generate(PACKAGE, "LidarLiteDriver", "LidarLiteDriver"))

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

launch/iri_lidar_lite.launch

@@ -2,10 +2,10 @@
 
 <launch>
 
-  <node pkg="iri_lidar_lite" type="iri_lidar_lite" name="iri_lidar_lite" output="screen">
+  <node pkg="iri_lidar_lite_driver" type="iri_lidar_lite_driver" name="iri_lidar_lite_driver" output="screen">
     <param name="serial_num"  type="string" value="A700evSl"/>
     <param name="config_mode" type="int"    value="0"/>
-    <param name="frame_id" type="string" value="/kinton/lidarlite_link"/>
+    <param name="frame_id" type="string" value="/lidarlite_link"/>
     <remap from="~range" to="kinton/lidarlite_range"/>
   </node>
 

src/lidar_lite_driver.cpp

@@ -66,7 +66,7 @@ LidarLiteDriver::config_update(Config& new_cfg, uint32_t level)
 
     case iri_base_driver::RUNNING:
 
-      this->config_mode_ = new_cfg.Config_mode;
+      this->config_mode_ = new_cfg.config_mode;
 
       try {
         this->laser_ptr_->set_new_config(this->config_mode_);

src/lidar_lite_driver_node.cpp

@@ -7,15 +7,16 @@ 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_,
+  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]