From e6060567b0212e72f3d72cc34b4eb2649bf43fe2 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Juraj=20Or=C5=A1uli=C4=87?= Date: Thu, 16 Nov 2017 11:09:07 +0100 Subject: [PATCH] Use node_handle.resolveName in start_trajectory_main. (#597) As discussed in #584. The two functions behave completely identical for our purposes, so renaming for consistency with the rest of cartographer_ros. --- .../cartographer_ros/start_trajectory_main.cc | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/cartographer_ros/cartographer_ros/start_trajectory_main.cc b/cartographer_ros/cartographer_ros/start_trajectory_main.cc index 6e2b231..7992d03 100644 --- a/cartographer_ros/cartographer_ros/start_trajectory_main.cc +++ b/cartographer_ros/cartographer_ros/start_trajectory_main.cc @@ -59,14 +59,15 @@ bool Run() { kStartTrajectoryServiceName); cartographer_ros_msgs::StartTrajectory srv; srv.request.options = ToRosMessage(LoadOptions()); - srv.request.topics.laser_scan_topic = - ros::names::resolve(kLaserScanTopic, true /* apply topic remapping */); + srv.request.topics.laser_scan_topic = node_handle.resolveName( + kLaserScanTopic, true /* apply topic remapping */); srv.request.topics.multi_echo_laser_scan_topic = - ros::names::resolve(kMultiEchoLaserScanTopic, true); + node_handle.resolveName(kMultiEchoLaserScanTopic, true); srv.request.topics.point_cloud2_topic = - ros::names::resolve(kPointCloud2Topic, true); - srv.request.topics.imu_topic = ros::names::resolve(kImuTopic, true); - srv.request.topics.odometry_topic = ros::names::resolve(kOdometryTopic, true); + node_handle.resolveName(kPointCloud2Topic, true); + srv.request.topics.imu_topic = node_handle.resolveName(kImuTopic, true); + srv.request.topics.odometry_topic = + node_handle.resolveName(kOdometryTopic, true); if (!client.call(srv)) { LOG(ERROR) << "Error starting trajectory.";