reflect review comment

openspur · Apr 17, 2024 · 449e042 · 449e042
1 parent 70f7ba7
commit 449e042
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
@@ -485,7 +485,7 @@ class YpspurRosNode
     digital_input_enable_ = false;
     pnh_.param("descrete_input", digital_input_discrete_, false);
     if (digital_input_discrete_)
-      ROS_INFO("Digital input publish separatly");
+      ROS_INFO("Digital input will be published separatly");
     dio_output_default_ = 0;
     dio_dir_default_ = 0;
     dios_.resize(dio_num_);
@@ -513,9 +513,7 @@ class YpspurRosNode
         }
         else if (digital_input_discrete_ && param.input_)
         {
-          pubs_["di/" + param.name_] = compat::advertise<std_msgs::Bool>(
-              nh_, "di/" + param.name_,
-              pnh_, "di/" + param.name_, 1);
+          pubs_["di/" + param.name_] = nh_.advertise<std_msgs::Bool>("di/" + param.name_, 1);
         }
 
         std::string output_default;