Switch back to relative namespace for topics.

Author: jgoppert

rviz/rplidar.rviz

@@ -73,7 +73,7 @@ Visualization Manager:
       Size (Pixels): 5
       Size (m): 0.03
       Style: Squares
-      Topic: /rplidarNode/scan
+      Topic: /scan
       Use Fixed Frame: true
       Use rainbow: true
       Value: true

src/node.cpp

@@ -76,6 +76,7 @@ class RPlidarNode {
     bool inverted;
     bool angle_compensate;
     ros::NodeHandle nh;
+    ros::NodeHandle nh_private;
     // publications
     ros::Publisher scan_pub;
     // services
@@ -91,7 +92,8 @@ RPlidarNode::RPlidarNode() :
     frame_id(),
     inverted(),
     angle_compensate(),
-    nh("~"),
+    nh(),
+    nh_private("~"),
     // publications
     scan_pub(nh.advertise<sensor_msgs::LaserScan>("scan", 1000)),
     // services
@@ -101,11 +103,11 @@ RPlidarNode::RPlidarNode() :
         "start_motor", &RPlidarNode::start_motor, this))
 {
 
-    nh.param<std::string>("serial_port", serial_port, "/dev/ttyUSB0");
-    nh.param<int>("serial_baudrate", serial_baudrate, 115200);
-    nh.param<std::string>("frame_id", frame_id, "laser_frame");
-    nh.param<bool>("inverted", inverted, false);
-    nh.param<bool>("angle_compensate", angle_compensate, true);
+    nh_private.param<std::string>("serial_port", serial_port, "/dev/ttyUSB0");
+    nh_private.param<int>("serial_baudrate", serial_baudrate, 115200);
+    nh_private.param<std::string>("frame_id", frame_id, "laser_frame");
+    nh_private.param<bool>("inverted", inverted, false);
+    nh_private.param<bool>("angle_compensate", angle_compensate, true);
 
     printf("RPLIDAR running on ROS package rplidar_ros\n"
            "SDK Version: "RPLIDAR_SDK_VERSION"\n");