From a6ccbde491dc6eef545c44feba7d83f0a17c0f5c Mon Sep 17 00:00:00 2001
From: Jakub Delicat <jakub.delicat@pwr.edu.pl>
Date: Wed, 10 Nov 2021 12:58:36 +0100
Subject: [PATCH] configuration run.sh depends on PIONIER_ID

---
 README.md | 1 +
 run.sh    | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 65a25b6..c22d16c 100644
--- a/README.md
+++ b/README.md
@@ -6,5 +6,6 @@ ROS package to handle Pioneer robot features L1.5.
 
 ## Enable autostart
 On Ubuntu 12 copy file 'ros.desktop' to `~/.config/autostart/`
+
 `cp ros.desktop ~/.config/autostart/`
 
diff --git a/run.sh b/run.sh
index 1dfded2..cd8eb02 100755
--- a/run.sh
+++ b/run.sh
@@ -9,6 +9,6 @@ export ROS_NAMESPACE=/PIONIER${PIONIER_ID}
 #rosrun rosaria RosAria _port:=/dev/ttyS0 & >/dev/null 2>&1
 rosrun rosaria RosAria _port:=/dev/ttyS0 _tf_prefix:=/PIONIER${PIONIER_ID} &
 #rosrun safety cloud_reader 0.7 &
-rosrun hokuyo_node hokuyo_node _frame_id:="laser${PIONIER_ID}" &
+rosrun hokuyo_node hokuyo_node _frame_id:="PIONIER${PIONIER_ID}/laser${PIONIER_ID}" &
 #rosrun videostream videostream &
 #cvlc v4l2:///dev/video0 :v4l2-standard=  :sout='#transcode{vcodec=FLV1,vb=0,scale=0,acodec=none}:http{mux=ffmpeg{mux=flv},dst=:8080/}' :sout-keep :live-caching=300 &