[Personalrobots-commit] SF.net SVN: personalrobots:[19330] pkg/trunk/stacks

[<rob...@us...>]

Revision: 19330
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=19330&view=rev
Author:   rob_wheeler
Date:     2009-07-21 21:41:32 +0000 (Tue, 21 Jul 2009)

Log Message:
-----------
Don't publish as global topics

Modified Paths:
--------------
    pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp
    pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp

Modified: pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp
===================================================================
--- pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp	2009-07-21 21:33:38 UTC (rev 19329)
+++ pkg/trunk/stacks/mechanism/mechanism_control/src/mechanism_control.cpp	2009-07-21 21:41:32 UTC (rev 19330)
@@ -56,8 +56,8 @@
   current_controllers_list_(0), 
   used_by_realtime_(-1), 
   pub_diagnostics_(node_, "/diagnostics", 1),
-  pub_joints_(node_, "/joint_states", 1),
-  pub_mech_state_(node_, "/mechanism_state", 1),
+  pub_joints_(node_, "joint_states", 1),
+  pub_mech_state_(node_, "mechanism_state", 1),
   last_published_state_(realtime_gettime()),
   last_published_diagnostics_(realtime_gettime())
 {

Modified: pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp
===================================================================
--- pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp	2009-07-21 21:33:38 UTC (rev 19329)
+++ pkg/trunk/stacks/pr2_drivers/ethercat_hardware/src/wg0x.cpp	2009-07-21 21:41:32 UTC (rev 19330)
@@ -228,9 +228,9 @@
 
     if (fw_major_ >= 1)
     {
-      topic = "/accelerometer/";
+      topic = "accelerometer";
       if (!actuator->name_.empty())
-        topic += actuator->name_;
+        topic += "/" + actuator->name_;
       accel_publisher_ = new realtime_tools::RealtimePublisher<ethercat_hardware::AccelerometerState>(ros::NodeHandle(), topic, 1);
     }
 


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