fix issue strands-project#96 (morse odom vs dwa planner)

kunzel · Mar 14, 2015 · 296c923 · 296c923
1 parent b799d20
commit 296c923
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diff --git a/launch/scitos_node.launch b/launch/scitos_node.launch
@@ -2,4 +2,5 @@
   <node pkg="strands_morse" type="scitos_node.py" name="scitos_node" output="screen"/>
   <node pkg="topic_republisher" type="republish_ptu_jointstate.py" name="ptu_jointstate_republisher" output="screen"/>
   <node pkg="topic_republisher" type="republish_ptu_state.py" name="ptu_state_republisher" output="screen"/>
+  <node pkg="topic_republisher" type="republish_odometry.py" name="odometry_republisher" output="screen"/>
 </launch>
diff --git a/strands_sim/src/strands_sim/builder/robots/scitosA5.py b/strands_sim/src/strands_sim/builder/robots/scitosA5.py
@@ -10,7 +10,7 @@ class Scitosa5(Robot):
 
     # topic names
     MOTION_TOPIC          = '/cmd_vel'
-    ODOMETRY_TOPIC        = '/odom'
+    ODOMETRY_TOPIC        = '/odom_morse'
     PTU_TOPIC             = '/ptu'
     PTU_POSE_TOPIC        = '/ptu_state'
     BATTERY_TOPIC         = '/battery_state'