make all topics have the same frame_id because they come from the sam…

…e sensor
Hacks4ROS · Jan 27, 2016 · 8781a47 · 8781a47
1 parent 55201f0
commit 8781a47
Showing 1 changed file with 2 additions and 12 deletions.
diff --git a/h4r_ev3_control/src/h4r_ev3_control/ev3_infrared_controller.cpp b/h4r_ev3_control/src/h4r_ev3_control/ev3_infrared_controller.cpp
@@ -191,11 +191,7 @@ bool Ev3InfraredController::init(Ev3SensorInterface* hw,
  ROS_INFO_STREAM("Parameter min_range not given or wrong type, using 0");
  }
 
- if (!ctrl_nh.getParam("frame_id", frame_id_))
- {
- frame_id_=port_;
- ROS_INFO_STREAM("Parameter frame_id not given or wrong type, using "<<port_);
- }
+
 
  if(max_range_>2.50)
  {
@@ -228,6 +224,7 @@ bool Ev3InfraredController::init(Ev3SensorInterface* hw,
  realtime_seek_publishers_[i] = RtSeekPublisherPtr(
  new realtime_tools::RealtimePublisher<h4r_ev3_msgs::Seek>(
  root_nh, topic_name, 4));
+
  }
  break;
 
@@ -249,13 +246,6 @@ bool Ev3InfraredController::init(Ev3SensorInterface* hw,
  ROS_INFO_STREAM("Parameter "<<param_name<<" not given using "<<topic_name<<" for channel "<<i);
  }
 
- param_name="frame_id_"+number;
- if (!ctrl_nh.getParam(param_name, frame_id_))
- {
- frame_id_=port_+"_ir_remote_"+number;
- ROS_INFO_STREAM("Parameter "<<param_name<<" not given using "<<frame_id_<<" for channel "<<i);
- }
-
 
  realtime_joy_publishers_[i] = RtJoyPublisherPtr(
  new realtime_tools::RealtimePublisher<sensor_msgs::Joy>(