From 9d736cc05f98c02bb6e66fe0dc00cb31f67fe13e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 14 Jul 2020 17:15:47 +0200
Subject: [PATCH] Changed the state_publihser type to the robot_state_publihser
 type because it is deprecated.

---
 launch/rslidar16_sim.launch      | 2 +-
 launch/velodyne_hdl32_sim.launch | 2 +-
 launch/velodyne_vlp16_sim.launch | 2 +-
 3 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/launch/rslidar16_sim.launch b/launch/rslidar16_sim.launch
index 7a2cf81..8f9db6c 100644
--- a/launch/rslidar16_sim.launch
+++ b/launch/rslidar16_sim.launch
@@ -20,7 +20,7 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_robosense_lidar_description)/urdf/rslidar16_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="robosense_tf_broadcaster">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robosense_tf_broadcaster">
     <param name="tf_prefix" type="string" value=""/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
diff --git a/launch/velodyne_hdl32_sim.launch b/launch/velodyne_hdl32_sim.launch
index 6ede76a..e1eb3bb 100644
--- a/launch/velodyne_hdl32_sim.launch
+++ b/launch/velodyne_hdl32_sim.launch
@@ -21,7 +21,7 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_velodyne_lidar_description)/urdf/velodyne_hdl32_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="velodyne_tf_broadcaster">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="velodyne_tf_broadcaster">
     <param name="tf_prefix" type="string" value=""/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
diff --git a/launch/velodyne_vlp16_sim.launch b/launch/velodyne_vlp16_sim.launch
index 8c362e8..15b56e4 100644
--- a/launch/velodyne_vlp16_sim.launch
+++ b/launch/velodyne_vlp16_sim.launch
@@ -21,7 +21,7 @@
   <param name="robot_description"
          command="$(find xacro)/xacro --inorder '$(find iri_velodyne_lidar_description)/urdf/velodyne_vlp16_example.xacro'" />
 
-  <node pkg="robot_state_publisher" type="state_publisher" name="velodyne_tf_broadcaster">
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="velodyne_tf_broadcaster">
     <param name="tf_prefix" type="string" value=""/>
     <param name="publish_frequency" type="double" value="20.0"/>
   </node>
-- 
GitLab