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added scan_topic parameter #117

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added scan_topic parameter #117

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2 changes: 2 additions & 0 deletions include/urg_node/urg_node.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -162,6 +162,8 @@ class UrgNode : public rclcpp::Node
/** The laser tf frame id. */
std::string laser_frame_id_;

std::string scan_topic_;

volatile bool service_yield_;

rclcpp::Publisher<sensor_msgs::msg::LaserScan>::SharedPtr laser_pub_;
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1 change: 1 addition & 0 deletions launch/urg_node_ethernet.yaml
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Expand Up @@ -6,6 +6,7 @@ urg_node:
ip_port: 10940
serial_baud: 115200
laser_frame_id: "laser"
scan_topic: "scan"
calibrate_time: false
default_user_latency: 0.0
diagnostics_tolerance: 0.05
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1 change: 1 addition & 0 deletions launch/urg_node_serial.yaml
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Expand Up @@ -6,6 +6,7 @@ urg_node:
serial_port: "/dev/ttyACM0"
serial_baud: 115200
laser_frame_id: "laser"
scan_topic: "scan"
calibrate_time: false
default_user_latency: 0.0
diagnostics_tolerance: 0.05
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4 changes: 3 additions & 1 deletion src/urg_node.cpp
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Expand Up @@ -71,6 +71,7 @@ UrgNode::UrgNode(const rclcpp::NodeOptions & node_options)
skip_(0),
default_user_latency_(0.0),
laser_frame_id_("laser"),
scan_topic_("scan"),
service_yield_(true)
{
(void) synchronize_time_;
Expand All @@ -83,6 +84,7 @@ void UrgNode::initSetup()
ip_address_ = this->declare_parameter<std::string>("ip_address", ip_address_);
ip_port_ = this->declare_parameter<int>("ip_port", ip_port_);
laser_frame_id_ = this->declare_parameter<std::string>("laser_frame_id", laser_frame_id_);
scan_topic_ = this->declare_parameter<std::string>("scan_topic", scan_topic_);
serial_port_ = this->declare_parameter<std::string>("serial_port", serial_port_);
serial_baud_ = this->declare_parameter<int>("serial_baud", serial_baud_);
calibrate_time_ = this->declare_parameter<bool>("calibrate_time", calibrate_time_);
Expand All @@ -109,7 +111,7 @@ void UrgNode::initSetup()
echoes_pub_ =
std::make_unique<laser_proc::LaserPublisher>(this->get_node_topics_interface(), 20);
} else {
laser_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>("scan", 20);
laser_pub_ = this->create_publisher<sensor_msgs::msg::LaserScan>(scan_topic_, 20);
}

status_service_ = this->create_service<std_srvs::srv::Trigger>(
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