From 7c1cf6f2e7096298ed9d99a06f7b5394df1b682f Mon Sep 17 00:00:00 2001
From: Mehdi Tlili <mehdi.tlili@gmail.com>
Date: Mon, 24 Nov 2014 16:17:04 +0900
Subject: [PATCH] Change internal map topic from "map" to "stdr_map"

---
 stdr_gui/include/stdr_gui/stdr_gui_controller.h | 2 +-
 stdr_gui/src/stdr_gui/stdr_gui_controller.cpp   | 4 ++--
 stdr_robot/src/stdr_robot.cpp                   | 2 +-
 stdr_server/src/map_server.cpp                  | 4 ++--
 4 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/stdr_gui/include/stdr_gui/stdr_gui_controller.h b/stdr_gui/include/stdr_gui/stdr_gui_controller.h
index 7140e5bc..397fe51d 100644
--- a/stdr_gui/include/stdr_gui/stdr_gui_controller.h
+++ b/stdr_gui/include/stdr_gui/stdr_gui_controller.h
@@ -232,7 +232,7 @@ namespace stdr_gui
       void initializeCommunications(void);
       
       /**
-      @brief Receives the occupancy grid map from stdr_server. Connects to "map" ROS topic
+      @brief Receives the occupancy grid map from stdr_server. Connects to "stdr_map" ROS topic
       @param msg [const nav_msgs::OccupancyGrid&] The OGM message
       @return void
       **/
diff --git a/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp b/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
index 035327ce..fc344e7f 100644
--- a/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
+++ b/stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
@@ -80,7 +80,7 @@ namespace stdr_gui
   void CGuiController::initializeCommunications(void)
   {
     map_subscriber_ = n_.subscribe(
-      "map", 
+      "stdr_map",
       1, 
       &CGuiController::receiveMap,
       this);
@@ -466,7 +466,7 @@ namespace stdr_gui
   }
 
   /**
-  @brief Receives the occupancy grid map from stdr_server. Connects to "map" \
+  @brief Receives the occupancy grid map from stdr_server. Connects to "stdr_map" \
   ROS topic
   @param msg [const nav_msgs::OccupancyGrid&] The OGM message
   @return void
diff --git a/stdr_robot/src/stdr_robot.cpp b/stdr_robot/src/stdr_robot.cpp
index 6323a944..29b7afe4 100644
--- a/stdr_robot/src/stdr_robot.cpp
+++ b/stdr_robot/src/stdr_robot.cpp
@@ -56,7 +56,7 @@ namespace stdr_robot
     _registerClientPtr->sendGoal(goal,
       boost::bind(&Robot::initializeRobot, this, _1, _2));
 
-    _mapSubscriber = n.subscribe("map", 1, &Robot::mapCallback, this);
+    _mapSubscriber = n.subscribe("stdr_map", 1, &Robot::mapCallback, this);
     _moveRobotService = n.advertiseService(
       getName() + "/replace", &Robot::moveRobotCallback, this);
 
diff --git a/stdr_server/src/map_server.cpp b/stdr_server/src/map_server.cpp
index 971eb4d4..1e8d6bb0 100644
--- a/stdr_server/src/map_server.cpp
+++ b/stdr_server/src/map_server.cpp
@@ -64,11 +64,11 @@ namespace stdr_server {
       &MapServer::publishTransform, this);
     
     //!< Latched publisher for metadata
-    metadata_pub= n.advertise<nav_msgs::MapMetaData>("map_metadata", 1, true);
+    metadata_pub= n.advertise<nav_msgs::MapMetaData>("stdr_map_metadata", 1, true);
     metadata_pub.publish( meta_data_message_ );
     
     //!< Latched publisher for data
-    map_pub = n.advertise<nav_msgs::OccupancyGrid>("map", 1, true);
+    map_pub = n.advertise<nav_msgs::OccupancyGrid>("stdr_map", 1, true);
     map_pub.publish( map_ );
   }