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fixed the issue with the frame name if the namespace is empty #95

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fixed the issue with the frame name if the namespace is empty #95

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14 changes: 8 additions & 6 deletions src/dlio/odom.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -176,12 +176,14 @@ void dlio::OdomNode::getParams() {
// Get Node NS and Remove Leading Character
std::string ns = ros::this_node::getNamespace();
ns.erase(0,1);

// Concatenate Frame Name Strings
this->odom_frame = ns + "/" + this->odom_frame;
this->baselink_frame = ns + "/" + this->baselink_frame;
this->lidar_frame = ns + "/" + this->lidar_frame;
this->imu_frame = ns + "/" + this->imu_frame;

if(!ns.empty()){
// Concatenate Frame Name Strings
this->odom_frame = ns + "/" + this->odom_frame;
this->baselink_frame = ns + "/" + this->baselink_frame;
this->lidar_frame = ns + "/" + this->lidar_frame;
this->imu_frame = ns + "/" + this->imu_frame;
}

// Deskew FLag
ros::param::param<bool>("~dlio/pointcloud/deskew", this->deskew_, true);
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