From 95354b0a0ab5a209dd26108ed2dcc28024edb8ca Mon Sep 17 00:00:00 2001
From: jvallve <jvallve@iri.upc.edu>
Date: Fri, 14 Oct 2022 14:30:16 +0200
Subject: [PATCH] map_frame_id via param server
---
src/publisher_gnss_tf.cpp | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/publisher_gnss_tf.cpp b/src/publisher_gnss_tf.cpp
index da778fb..b90dd8f 100644
--- a/src/publisher_gnss_tf.cpp
+++ b/src/publisher_gnss_tf.cpp
@@ -46,12 +46,12 @@ PublisherGnssTf::PublisherGnssTf(const std::string& _unique_name,
T_ecef_enu_.frame_id_ = "ECEF";
T_ecef_enu_.child_frame_id_ = "ENU";
T_ecef_enu_.stamp_ = ros::Time::now();
+
+ T_enu_map_.child_frame_id_ = _server.getParam<std::string>(prefix_ + "/map_frame_id");
}
void PublisherGnssTf::initialize(ros::NodeHandle& nh, const std::string& topic)
{
- nh.param<std::string>("map_frame_id", T_enu_map_.child_frame_id_, "map");
- std::cout << "PublisherGnssTf initialized using map_frame_id: " << T_enu_map_.child_frame_id_ << std::endl;
}
void PublisherGnssTf::publishDerived()
--
GitLab