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Allow namespace forwarding to the ranger_messenger #17

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Allow namespace forwarding to the ranger_messenger #17

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10 changes: 5 additions & 5 deletions ranger_base/src/ranger_messenger.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -125,18 +125,18 @@ void RangerROSMessenger::LoadParameters() {
void RangerROSMessenger::SetupSubscription() {
// publisher
system_state_pub_ =
node_->create_publisher<ranger_msgs::msg::SystemState>("/system_state", 10);
node_->create_publisher<ranger_msgs::msg::SystemState>("system_state", 10);
motion_state_pub_ =
node_->create_publisher<ranger_msgs::msg::MotionState>("/motion_state", 10);
node_->create_publisher<ranger_msgs::msg::MotionState>("motion_state", 10);
actuator_state_pub_ =
node_->create_publisher<ranger_msgs::msg::ActuatorStateArray>("/actuator_state", 10);
node_->create_publisher<ranger_msgs::msg::ActuatorStateArray>("actuator_state", 10);
odom_pub_ = node_->create_publisher<nav_msgs::msg::Odometry>(odom_topic_name_, 10);
battery_state_pub_ =
node_->create_publisher<sensor_msgs::msg::BatteryState>("/battery_state", 10);
node_->create_publisher<sensor_msgs::msg::BatteryState>("battery_state", 10);

// subscriber
motion_cmd_sub_ = node_->create_subscription<geometry_msgs::msg::Twist>(
"/cmd_vel", 5, std::bind(&RangerROSMessenger::TwistCmdCallback, this, std::placeholders::_1)
"cmd_vel", 5, std::bind(&RangerROSMessenger::TwistCmdCallback, this, std::placeholders::_1)
);
tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node_);
}
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