From 449e0428ed429352717c936e938ce4d0e5033592 Mon Sep 17 00:00:00 2001
From: seiga-k <skiribayashi@seqsense.com>
Date: Wed, 17 Apr 2024 12:42:46 +0900
Subject: [PATCH] reflect review comment

---
 src/ypspur_ros.cpp | 6 ++----
 1 file changed, 2 insertions(+), 4 deletions(-)

diff --git a/src/ypspur_ros.cpp b/src/ypspur_ros.cpp
index 010231b..df65515 100644
--- 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;