From e576d72dfcc7e4863f4c330b4dcaab0400656eaa Mon Sep 17 00:00:00 2001
From: Damon Kohler <damonkohler@gmail.com>
Date: Fri, 16 Sep 2016 13:45:17 +0200
Subject: [PATCH] Makes topic names relative. (#60)

* Fixes #58
---
 cartographer_ros/configuration_files/demo_2d.rviz |  4 ++--
 cartographer_ros/configuration_files/demo_3d.rviz |  4 ++--
 cartographer_ros/launch/backpack_2d.launch        |  2 +-
 cartographer_ros/launch/backpack_3d.launch        |  2 +-
 cartographer_ros/src/cartographer_node_main.cc    | 15 +++++++--------
 cartographer_ros/src/submaps_display.cc           |  2 +-
 6 files changed, 14 insertions(+), 15 deletions(-)

diff --git a/cartographer_ros/configuration_files/demo_2d.rviz b/cartographer_ros/configuration_files/demo_2d.rviz
index b4a213c..8de036e 100644
--- a/cartographer_ros/configuration_files/demo_2d.rviz
+++ b/cartographer_ros/configuration_files/demo_2d.rviz
@@ -135,8 +135,8 @@ Visualization Manager:
       Enabled: true
       Map frame: map
       Name: Submaps
-      Submap query service: /cartographer/submap_query
-      Topic: /cartographer/submap_list
+      Submap query service: /submap_query
+      Topic: /submap_list
       Tracking frame: base_link
       Unreliable: false
       Value: true
diff --git a/cartographer_ros/configuration_files/demo_3d.rviz b/cartographer_ros/configuration_files/demo_3d.rviz
index 174daf7..7cb183e 100644
--- a/cartographer_ros/configuration_files/demo_3d.rviz
+++ b/cartographer_ros/configuration_files/demo_3d.rviz
@@ -197,8 +197,8 @@ Visualization Manager:
       Enabled: true
       Map frame: map
       Name: Submaps
-      Submap query service: /cartographer/submap_query
-      Topic: /cartographer/submap_list
+      Submap query service: /submap_query
+      Topic: /submap_list
       Tracking frame: base_link
       Unreliable: false
       Value: true
diff --git a/cartographer_ros/launch/backpack_2d.launch b/cartographer_ros/launch/backpack_2d.launch
index 99b65f7..e50da78 100644
--- a/cartographer_ros/launch/backpack_2d.launch
+++ b/cartographer_ros/launch/backpack_2d.launch
@@ -21,7 +21,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher"
     type="robot_state_publisher" />
 
-  <node name="cartographer" pkg="cartographer_ros"
+  <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename backpack_2d.lua"
diff --git a/cartographer_ros/launch/backpack_3d.launch b/cartographer_ros/launch/backpack_3d.launch
index 579c69b..f29c1f9 100644
--- a/cartographer_ros/launch/backpack_3d.launch
+++ b/cartographer_ros/launch/backpack_3d.launch
@@ -21,7 +21,7 @@
   <node name="robot_state_publisher" pkg="robot_state_publisher"
     type="robot_state_publisher" />
 
-  <node name="cartographer" pkg="cartographer_ros"
+  <node name="cartographer_node" pkg="cartographer_ros"
       type="cartographer_node" args="
           -configuration_directory $(find cartographer_ros)/configuration_files
           -configuration_basename backpack_3d.lua"
diff --git a/cartographer_ros/src/cartographer_node_main.cc b/cartographer_ros/src/cartographer_node_main.cc
index e68d361..5c2cab8 100644
--- a/cartographer_ros/src/cartographer_node_main.cc
+++ b/cartographer_ros/src/cartographer_node_main.cc
@@ -92,13 +92,13 @@ constexpr int kSubscriberQueueSize = 150;
 constexpr double kSensorDataRatesLoggingPeriodSeconds = 15.;
 
 // Unique default topic names. Expected to be remapped as needed.
-constexpr char kLaserScanTopic[] = "/scan";
-constexpr char kMultiEchoLaserScanTopic[] = "/echoes";
-constexpr char kPointCloud2Topic[] = "/points2";
-constexpr char kImuTopic[] = "/imu";
-constexpr char kOdometryTopic[] = "/odom";
-constexpr char kOccupancyGridTopic[] = "/map";
-constexpr char kScanMatchedPointCloudTopic[] = "/scan_matched_points2";
+constexpr char kLaserScanTopic[] = "scan";
+constexpr char kMultiEchoLaserScanTopic[] = "echoes";
+constexpr char kPointCloud2Topic[] = "points2";
+constexpr char kImuTopic[] = "imu";
+constexpr char kOdometryTopic[] = "odom";
+constexpr char kOccupancyGridTopic[] = "map";
+constexpr char kScanMatchedPointCloudTopic[] = "scan_matched_points2";
 
 struct NodeOptions {
   carto::mapping::proto::MapBuilderOptions map_builder_options;
@@ -262,7 +262,6 @@ Node::Node(const NodeOptions& options)
     : options_(options),
       map_builder_(options.map_builder_options, &constant_data_),
       sensor_data_producer_(kTrajectoryBuilderId, &sensor_collator_),
-      node_handle_("~"),
       tf_buffer_(::ros::Duration(1000)),
       tf_(tf_buffer_) {}
 
diff --git a/cartographer_ros/src/submaps_display.cc b/cartographer_ros/src/submaps_display.cc
index d72ed69..d0c9aa2 100644
--- a/cartographer_ros/src/submaps_display.cc
+++ b/cartographer_ros/src/submaps_display.cc
@@ -48,7 +48,7 @@ constexpr char kDefaultTrackingFrame[] = "base_link";
 SubmapsDisplay::SubmapsDisplay() : tf_listener_(tf_buffer_) {
   submap_query_service_property_ = new ::rviz::StringProperty(
       "Submap query service",
-      QString("/cartographer/") + kSubmapQueryServiceName,
+      QString("/") + kSubmapQueryServiceName,
       "Submap query service to connect to.", this, SLOT(Reset()));
   map_frame_property_ = new ::rviz::StringProperty(
       "Map frame", kDefaultMapFrame, "Map frame, used for fading out submaps.",