Merge branch 'bugfix-odometry_with_estop_activated' into 'v2.x'

Bugfix odometry with estop activated

See merge request westonrobot/ros/scout_base!7

scout_base/src/scout_base_node.cpp

@@ -11,12 +11,17 @@
 using namespace westonrobot;
 
 std::shared_ptr<ScoutBase> robot;
+bool keep_run = true;
+
+void DetachRobot(int signal) { keep_run = false; }
 
 int main(int argc, char **argv) {
   // setup ROS node
   ros::init(argc, argv, "scout_node");
   ros::NodeHandle node(""), private_node("~");
 
+  std::signal(SIGINT, DetachRobot);
+
   // instantiate a robot object
   robot = std::make_shared<ScoutBase>();
   ScoutROSMessenger messenger(robot.get(), &node);
@@ -46,7 +51,7 @@ int main(int argc, char **argv) {
 
   // publish robot state at 50Hz while listening to twist commands
   ros::Rate rate(50);
-  while (true) {
+  while (keep_run) {
     if (!messenger.simulated_robot_) {
       messenger.PublishStateToROS();
     } else {

scout_base/src/scout_messenger.cpp

@@ -276,7 +276,7 @@ namespace westonrobot
     // publish odometry and tf messages
     nav_msgs::Odometry odom_msg;
     odom_msg.header.stamp = current_time_;
-    odom_msg.header.frame_id = "testes";
+    odom_msg.header.frame_id = odom_frame_;
     odom_msg.child_frame_id = base_frame_;
 
     odom_msg.pose.pose.position.x = position_x_;