From 6aa8eadcd81820ab6c4d809e1a1872c3becf2b1b Mon Sep 17 00:00:00 2001
From: Anish <Anishdeva17@gmail.com>
Date: Mon, 10 Jul 2023 20:30:44 -0400
Subject: [PATCH] fix

---
 .../ekf_localizer/include/ekf_localizer/ekf_localizer.hpp    | 2 +-
 core_perception/ekf_localizer/src/ekf_localizer.cpp          | 5 +++--
 2 files changed, 4 insertions(+), 3 deletions(-)

diff --git a/core_perception/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp b/core_perception/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
index fff534012ba..879a83a1699 100644
--- a/core_perception/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
+++ b/core_perception/ekf_localizer/include/ekf_localizer/ekf_localizer.hpp
@@ -52,7 +52,7 @@ class EKFLocalizer: public carma_ros2_utils::CarmaLifecycleNode
     rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr pub_yaw_bias_;                                //!< @brief ekf estimated yaw bias publisher
     
     rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_initialpose_;     //!< @brief initial pose subscriber
-    rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub_pose_with_cov_;   //!< @brief measurement pose with covariance subscriber
+    rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr sub_pose_with_cov_;   //!< @brief measurement pose with covariance subscriber
     rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr sub_pose_;                          //!< @brief measurement pose subscriber
     rclcpp::Subscription<geometry_msgs::msg::TwistWithCovarianceStamped>::SharedPtr sub_twist_with_cov_; //!< @brief measurement twist with covariance subscriber
     rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr sub_twist_;                        //!< @brief measurement twist subscriber
diff --git a/core_perception/ekf_localizer/src/ekf_localizer.cpp b/core_perception/ekf_localizer/src/ekf_localizer.cpp
index 6e665502fad..3d56136c8ca 100644
--- a/core_perception/ekf_localizer/src/ekf_localizer.cpp
+++ b/core_perception/ekf_localizer/src/ekf_localizer.cpp
@@ -114,8 +114,9 @@ namespace ekf_localizer{
         pub_twist_ = create_publisher<geometry_msgs::msg::TwistStamped>("ekf_twist", 1);
         pub_twist_cov_ = create_publisher<geometry_msgs::msg::TwistWithCovarianceStamped>("ekf_twist_with_covariance", 1);
         pub_yaw_bias_ = create_publisher<std_msgs::msg::Float64>("estimated_yaw_bias", 1);
-        sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>("in_pose_with_covariance", 1, std::bind(&EKFLocalizer::callbackPoseWithCovariance, this, std::placeholders::_1));
-        sub_pose_with_cov_ = create_subscription<geometry_msgs::msg::PoseStamped>("in_pose", 1, std::bind(&EKFLocalizer::callbackPose, this, std::placeholders::_1));
+        sub_initialpose_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>("initialpose", 1, std::bind(&EKFLocalizer::callbackInitialPose, this, std::placeholders::_1));
+        sub_pose_with_cov_ = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>("in_pose_with_covariance", 1, std::bind(&EKFLocalizer::callbackPoseWithCovariance, this, std::placeholders::_1)); 
+        sub_pose_ = create_subscription<geometry_msgs::msg::PoseStamped>("in_pose", 1, std::bind(&EKFLocalizer::callbackPose, this, std::placeholders::_1));
         sub_twist_with_cov_ = create_subscription<geometry_msgs::msg::TwistWithCovarianceStamped>("in_twist_with_covariance", 1, std::bind(&EKFLocalizer::callbackTwistWithCovariance, this, std::placeholders::_1));
         sub_twist_ = create_subscription<geometry_msgs::msg::TwistStamped>("in_twist", 1, std::bind(&EKFLocalizer::callbackTwist, this, std::placeholders::_1));