joint_state_broadcaster if no local topic us "/" as prefix

mamueluth · mamueluth · commit 167b210c5fc4 · 2023-05-17T08:45:14.000+02:00
diff --git a/joint_state_broadcaster/src/joint_state_broadcaster.cpp b/joint_state_broadcaster/src/joint_state_broadcaster.cpp
@@ -146,7 +146,7 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure(
 
   try
   {
-    const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "";
+    const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "/";
 
     joint_state_publisher_ = get_node()->create_publisher<sensor_msgs::msg::JointState>(
       topic_name_prefix + "joint_states", rclcpp::SystemDefaultsQoS());

Original file line number	Diff line number	Diff line change
`@@ -146,7 +146,7 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure(`
`146`	`146`
`147`	`147`	`try`
`148`	`148`	`{`
`149`		`- const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "";`
	`149`	`+ const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "/";`
`150`	`150`
`151`	`151`	`joint_state_publisher_ = get_node()->create_publisher<sensor_msgs::msg::JointState>(`
`152`	`152`	`topic_name_prefix + "joint_states", rclcpp::SystemDefaultsQoS());`