From c07c39bc438695101dc58d2fda2e14914e019ca4 Mon Sep 17 00:00:00 2001
From: Thomas Gubler <thomasgubler@gmail.com>
Date: Sat, 28 Feb 2015 18:15:51 +0100
Subject: update ros launch files and nodes for update of rotors_simulator

---
 src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

(limited to 'src/platforms/ros/nodes/mc_mixer')

diff --git a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
index 1098ec73b..9b48294b6 100644
--- a/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
+++ b/src/platforms/ros/nodes/mc_mixer/mc_mixer.cpp
@@ -40,7 +40,7 @@
 #include <ros/ros.h>
 #include <px4.h>
 #include <lib/mathlib/mathlib.h>
-#include <mav_msgs/MotorSpeed.h>
+#include <mav_msgs/CommandMotorSpeed.h>
 #include <string>
 
 class MultirotorMixer
@@ -129,7 +129,7 @@ MultirotorMixer::MultirotorMixer():
 	_rotors(_config_index[0])
 {
 	_sub = _n.subscribe("actuator_controls_0", 1, &MultirotorMixer::actuatorControlsCallback, this);
-	_pub = _n.advertise<mav_msgs::MotorSpeed>("/mixed_motor_commands", 10);
+	_pub = _n.advertise<mav_msgs::CommandMotorSpeed>("command/motor_speed", 10);
 
 	if (!_n.hasParam("motor_scaling_radps")) {
 		_n.setParam("motor_scaling_radps", 150.0);
@@ -237,7 +237,7 @@ void MultirotorMixer::actuatorControlsCallback(const px4::actuator_controls_0 &m
 	mix();
 
 	// publish message
-	mav_msgs::MotorSpeed rotor_vel_msg;
+	mav_msgs::CommandMotorSpeed rotor_vel_msg;
 	double scaling;
 	double offset;
 	_n.getParamCached("motor_scaling_radps", scaling);
-- 
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