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Change internal map topic from "map" to "stdr_map" #164

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Change internal map topic from "map" to "stdr_map" #164

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2 changes: 1 addition & 1 deletion stdr_gui/include/stdr_gui/stdr_gui_controller.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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
**/
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4 changes: 2 additions & 2 deletions stdr_gui/src/stdr_gui/stdr_gui_controller.cpp
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Expand Up @@ -80,7 +80,7 @@ namespace stdr_gui
void CGuiController::initializeCommunications(void)
{
map_subscriber_ = n_.subscribe(
"map",
"stdr_map",
1,
&CGuiController::receiveMap,
this);
Expand Down Expand Up @@ -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
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2 changes: 1 addition & 1 deletion stdr_robot/src/stdr_robot.cpp
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Expand Up @@ -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);

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4 changes: 2 additions & 2 deletions stdr_server/src/map_server.cpp
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Expand Up @@ -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_ );
}

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