From cd0a53d78a21905712b2c27fae7beea47fed56a6 Mon Sep 17 00:00:00 2001 From: Nathan Figueroa Date: Mon, 19 Aug 2024 18:01:37 +0000 Subject: [PATCH] feat: Move RBR channels to ~/rbr/ --- src/rbr_maestro3_ctd/src/rbr_maestro3_node.py | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/rbr_maestro3_ctd/src/rbr_maestro3_node.py b/src/rbr_maestro3_ctd/src/rbr_maestro3_node.py index 7af3ebf..201e21c 100755 --- a/src/rbr_maestro3_ctd/src/rbr_maestro3_node.py +++ b/src/rbr_maestro3_ctd/src/rbr_maestro3_node.py @@ -103,11 +103,10 @@ async def main(): ctd_publisher = rospy.Publisher('~', Ctd, queue_size=5) if has_depth: depth_publisher = rospy.Publisher('~depth', DepthPressure, queue_size=5) - channel_publishers = [] - for c, u in channels: - if c == 'depth': - continue - channel_publishers.append(rospy.Publisher(f'~{ros_safe(c)}', RbrMeasurement, queue_size=5)) + channel_publishers = [ + rospy.Publisher(f'~rbr/{ros_safe(c)}', RbrMeasurement, queue_size=5) + for c, u in channels + ] # Subscribe to incoming comms messages handler = lambda msg: asyncio.run_coroutine_threadsafe(ros_msg_q.put(msg),