feat!: Use the node's namespace for ROS communication

vorausrobotik · Oct 7, 2024 · 74e7126 · 74e7126
1 parent 1e284fc
commit 74e7126
Show file tree

Hide file tree

Showing 2 changed files with 4 additions and 4 deletions.
diff --git a/src/register_subscriptions.rs b/src/register_subscriptions.rs
@@ -27,10 +27,10 @@ pub fn register_opcua_subscriptions(ros_node: Arc<Node>, opc_ua_client: Arc<Mute
     let tcp_pose_buffer_copy_quaternion = Arc::clone(&tcp_pose_buffer);
 
     let tcp_twist_publisher: Arc<Mutex<RosPublisher<TwistStamped>>> = Arc::new(Mutex::new(
-        RosPublisher::new(&ros_node, "tcp_twist").unwrap(),
+        RosPublisher::new(&ros_node, "~/tcp_twist").unwrap(),
     ));
     let tcp_wrench_publisher: Arc<Mutex<RosPublisher<WrenchStamped>>> = Arc::new(Mutex::new(
-        RosPublisher::new(&ros_node, "tcp_wrench").unwrap(),
+        RosPublisher::new(&ros_node, "~/tcp_wrench").unwrap(),
     ));
 
     opc_ua_client

diff --git a/src/ros_publisher.rs b/src/ros_publisher.rs
@@ -40,7 +40,7 @@ impl JointStatesBuffer {
             current_velocities: Arc::new(Mutex::new(vec![0.0; 6])),
             current_efforts: Arc::new(Mutex::new(vec![0.0; 6])),
             publisher: Arc::new(Mutex::new(
-                RosPublisher::new(&ros_node, "joint_states").unwrap(),
+                RosPublisher::new(&ros_node, "~/joint_states").unwrap(),
             )),
         }
     }
@@ -116,7 +116,7 @@ impl TCPPoseBuffer {
             current_pose: Arc::new(Mutex::new(vec![0.0; 6])),
             current_quaternions: Arc::new(Mutex::new(vec![0.0; 4])),
             publisher: Arc::new(Mutex::new(
-                RosPublisher::new(&ros_node, "tcp_pose").unwrap(),
+                RosPublisher::new(&ros_node, "~/tcp_pose").unwrap(),
             )),
         }
     }