From a09e7272943af2d847dd665506cb9ed9b0cd2841 Mon Sep 17 00:00:00 2001
From: Jorge Santos <jsantossimon@gmail.com>
Date: Fri, 30 Aug 2013 10:50:41 +0900
Subject: [PATCH] Issue #3: publish odom and joint_states with absolute paths
 so they don't go under /turtlebot_node/ namespace.

---
 create_gazebo_plugins/src/gazebo_ros_create.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/create_gazebo_plugins/src/gazebo_ros_create.cpp b/create_gazebo_plugins/src/gazebo_ros_create.cpp
index eed1489..b2737c3 100644
--- a/create_gazebo_plugins/src/gazebo_ros_create.cpp
+++ b/create_gazebo_plugins/src/gazebo_ros_create.cpp
@@ -141,9 +141,9 @@ void GazeboRosCreate::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf )
   cmd_vel_sub_ = rosnode_->subscribe("cmd_vel", 1, &GazeboRosCreate::OnCmdVel, this );
 
   sensor_state_pub_ = rosnode_->advertise<create_node::TurtlebotSensorState>("sensor_state", 1);
-  odom_pub_ = rosnode_->advertise<nav_msgs::Odometry>("odom", 1);
+  odom_pub_ = rosnode_->advertise<nav_msgs::Odometry>("/odom", 1);
 
-  joint_state_pub_ = rosnode_->advertise<sensor_msgs::JointState>("joint_states", 1);
+  joint_state_pub_ = rosnode_->advertise<sensor_msgs::JointState>("/joint_states", 1);
 
   js_.name.push_back( left_wheel_joint_name_ );
   js_.position.push_back(0);