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added option to select odom navmsgs topic name

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This commit is contained in:
Tan Pin Da
2020-09-07 13:43:05 +08:00
parent 291f2baa08
commit 932b05cf72
4 changed files with 8 additions and 3 deletions
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2
scout_base/src/scout_base_node.cpp
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@@ -27,6 +27,8 @@ int main(int argc, char **argv) {
private_node.param<bool>("simulated_robot", messenger.simulated_robot_,
false);
private_node.param<int>("control_rate", messenger.sim_control_rate_, 50);
private_node.param<std::string>("odom_topic_name", messenger.odom_topic_name_,
std::string("odom"));
if (!messenger.simulated_robot_) {
// connect to robot and setup ROS subscription