TfPublisher: tf frame name can't start with '/'

moveit · Feb 9, 2021 · 987bd78 · 987bd78
1 parent 52f8441
commit 987bd78
Showing 1 changed file with 3 additions and 6 deletions.
diff --git a/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp b/moveit_ros/move_group/src/default_capabilities/tf_publisher_capability.cpp
@@ -124,12 +124,9 @@ void TfPublisher::publishPlanningSceneFrames()
 
 void TfPublisher::initialize()
 {
-  rclcpp::Node::SharedPtr n(new rclcpp::Node("TFPublisher"));
-
-  std::string prefix = n->get_namespace();
-  prefix += "/";
-  n->get_parameter_or("planning_scene_frame_publishing_rate", rate_, 10);
-  n->get_parameter_or("planning_scene_tf_prefix", prefix_, prefix);
+  std::string prefix = context_->node_->get_name();
+  context_->node_->get_parameter_or("planning_scene_frame_publishing_rate", rate_, 10);
+  context_->node_->get_parameter_or("planning_scene_tf_prefix", prefix_, prefix);
   keep_running_ = true;
 
   RCLCPP_INFO(LOGGER, "Initializing MoveGroupTfPublisher with a frame publishing rate of %d", rate_);