more versatile topic suffixes

src/subscriber_gnss.cpp

@@ -24,8 +24,8 @@ SubscriberGnss::SubscriberGnss(const SensorBasePtr& sensor_ptr) :
 
 void SubscriberGnss::initSubscriber(ros::NodeHandle& nh, const std::string& topic)
 {
-    sub_     = nh.subscribe(topic+std::string("_obs"), 1, &SubscriberGnss::callbackObservation, this);
-    sub_nav_ = nh.subscribe(topic+std::string("_nav"), 1, &SubscriberGnss::callbackNavigation, this);
+    sub_     = nh.subscribe(topic+std::string("obs"), 1, &SubscriberGnss::callbackObservation, this);
+    sub_nav_ = nh.subscribe(topic+std::string("nav"), 1, &SubscriberGnss::callbackNavigation, this);
 }
 
 
@@ -37,7 +37,7 @@ void SubscriberGnss::callbackObservation(const iri_gnss_msgs::Observation::Const
 
     GnssUtils::ObservationsPtr obs_ptr = std::make_shared<GnssUtils::Observations>();
     GnssUtils::fillObservation(*obs_ptr, msg);
-    GnssUtils::SnapshotPtr snapshot_ptr = std::make_shared<GnssUtilsSnapshot>(obs_ptr, last_nav_ptr_);
+    GnssUtils::SnapshotPtr snapshot_ptr = std::make_shared<GnssUtils::Snapshot>(obs_ptr, last_nav_ptr_);
     CaptureGnssPtr new_capture = std::make_shared<CaptureGnss>(TimeStamp(msg->header.stamp.sec, msg->header.stamp.nsec),
                                                                sensor_ptr_,
                                                                snapshot_ptr);