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custom frame_id in param #4

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custom frame_id in param #4

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10 changes: 8 additions & 2 deletions tfmini_ros/src/TFmini_ros_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,13 +4,19 @@ int main(int argc, char **argv)
{
ros::init(argc, argv, "tfmini_ros_node");
ros::NodeHandle nh("~");
std::string id = "TFmini";
//std::string id = "TFmini";
std::string id;
std::string portName;
int baud_rate;
benewake::TFmini *tfmini_obj;

nh.param("serial_port", portName, std::string("/dev/ttyUSB0"));
nh.param("baud_rate", baud_rate, 115200);
std::string frame_id = "TFmini";
if(!nh.getParam("frame_id", frame_id))
{
ROS_WARN_STREAM("No frame_id provided - default: " << frame_id);
}

tfmini_obj = new benewake::TFmini(portName, baud_rate);
ros::Publisher pub_range = nh.advertise<sensor_msgs::Range>(id, 1000, true);
Expand All @@ -19,7 +25,7 @@ int main(int argc, char **argv)
TFmini_range.field_of_view = 0.04;
TFmini_range.min_range = 0.3;
TFmini_range.max_range = 12;
TFmini_range.header.frame_id = id;
TFmini_range.header.frame_id = frame_id;
float dist = 0;
ROS_INFO_STREAM("Start processing ...");

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