From 18cc20b04b735c19607636a99f0656602d3d6fee Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Mon, 2 Feb 2015 23:02:42 +0100 Subject: parametrize imu input for ros dummy att estimator --- src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) (limited to 'src/platforms') diff --git a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp index 1d36e3d99..a3e4bca30 100644 --- a/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp +++ b/src/platforms/ros/nodes/attitude_estimator/attitude_estimator.cpp @@ -48,9 +48,11 @@ AttitudeEstimator::AttitudeEstimator() : _n(), // _sub_modelstates(_n.subscribe("/gazebo/model_states", 1, &AttitudeEstimator::ModelStatesCallback, this)), - _sub_imu(_n.subscribe("/px4_multicopter/imu", 1, &AttitudeEstimator::ImuCallback, this)), _vehicle_attitude_pub(_n.advertise("vehicle_attitude", 1)) { + std::string vehicle_model; + _n.param("vehicle_model", vehicle_model, std::string("iris")); + _sub_imu = _n.subscribe("/" + vehicle_model + "/imu", 1, &AttitudeEstimator::ImuCallback, this); } void AttitudeEstimator::ModelStatesCallback(const gazebo_msgs::ModelStatesConstPtr &msg) -- cgit v1.2.3