L1.5/ros2aria
L1.5/ros2aria
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changed odom name

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Signed-off-by: Jakub Delicat <delicat.kuba@gmail.com>
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Jakub Delicat 2023-08-17 10:29:35 +02:00
parent 4c6f618a1a
commit e9e4e82ae8
1 changed files with 1 additions and 1 deletions
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src/ros2aria/src/ros2aria.cpp
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@ -41,7 +41,7 @@ Ros2Aria::Ros2Aria()
} }
r->disableMotors(); r->disableMotors();
pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("odom/wheels", 1000); pose_pub_ = this->create_publisher<nav_msgs::msg::Odometry>("odom", 1000);
odom_tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this); odom_tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("joint_states", 1000); wheels_pub_ = this->create_publisher<sensor_msgs::msg::JointState>("joint_states", 1000);