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joint_state_broadcaster if no local topic us "/" as prefix
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joint_state_broadcaster/src/joint_state_broadcaster.cpp

Lines changed: 1 addition & 1 deletion
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@@ -146,7 +146,7 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_configure(
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try
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{
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const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "";
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const std::string topic_name_prefix = params_.use_local_topics ? "~/" : "/";
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joint_state_publisher_ = get_node()->create_publisher<sensor_msgs::msg::JointState>(
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topic_name_prefix + "joint_states", rclcpp::SystemDefaultsQoS());

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