Update related to namespace (#50)

Author: ToshikiNakamura0412

launch/motion_decision.launch

@@ -36,17 +36,17 @@
     <arg name="battery/full_charge_voltage" default="24.0"/>
     <arg name="battery/cutoff_voltage" default="20.0"/>
     <!-- Published topic -->
-    <arg name="cmd_vel" default="/cmd_vel"/>
+    <arg name="cmd_vel" default="cmd_vel"/>
     <!-- Subscribed topics -->
-    <arg name="local_path/cmd_vel" default="/local_path/cmd_vel"/>
-    <arg name="local_map" default="/local_map"/>
-    <arg name="odom" default="/odom"/>
-    <arg name="front_laser/scan" default="/front_laser/scan"/>
-    <arg name="rear_laser/scan" default="/rear_laser/scan"/>
-    <arg name="battery_voltage" default="/battery_voltage"/>
+    <arg name="local_path/cmd_vel" default="local_path/cmd_vel"/>
+    <arg name="local_map" default="local_map"/>
+    <arg name="odom" default="odom"/>
+    <arg name="front_laser/scan" default="front_laser/scan"/>
+    <arg name="rear_laser/scan" default="rear_laser/scan"/>
+    <arg name="battery_voltage" default="battery_voltage"/>
 
     <!-- run motion_decision node -->
-    <node pkg="motion_decision" type="motion_decision" name="motion_decision" ns="$(arg ns)" output="$(arg output)" respawn="true">
+    <node pkg="motion_decision" type="motion_decision" name="motion_decision" output="$(arg output)" respawn="true">
         <!-- MotionDecisionParams -->
         <param name="use_rear_laser" value="$(arg use_rear_laser)"/>
         <param name="use_360_laser" value="$(arg use_360_laser)"/>
@@ -80,13 +80,13 @@
         <param name="battery/full_charge_voltage" value="$(arg battery/full_charge_voltage)"/>
         <param name="battery/cutoff_voltage" value="$(arg battery/cutoff_voltage)"/>
         <!-- Published topic -->
-        <remap from="/cmd_vel" to="$(arg cmd_vel)"/>
+        <remap from="cmd_vel" to="$(arg cmd_vel)"/>
         <!-- Subscribed topics -->
-        <remap from="/local_path/cmd_vel" to="$(arg local_path/cmd_vel)"/>
-        <remap from="/local_map" to="$(arg local_map)"/>
-        <remap from="/odom" to="$(arg odom)"/>
-        <remap from="/front_laser/scan" to="$(arg front_laser/scan)"/>
-        <remap from="/rear_laser/scan" to="$(arg rear_laser/scan)"/>
-        <remap from="/battery_voltage" to="$(arg battery_voltage)"/>
+        <remap from="local_path/cmd_vel" to="$(arg local_path/cmd_vel)"/>
+        <remap from="local_map" to="$(arg local_map)"/>
+        <remap from="odom" to="$(arg odom)"/>
+        <remap from="front_laser/scan" to="$(arg front_laser/scan)"/>
+        <remap from="rear_laser/scan" to="$(arg rear_laser/scan)"/>
+        <remap from="battery_voltage" to="$(arg battery_voltage)"/>
     </node>
 </launch>

src/motion_decision.cpp

@@ -14,22 +14,22 @@
 
 MotionDecision::MotionDecision(void) : private_nh_("~")
 {
-  intersection_flag_pub_ = nh_.advertise<std_msgs::Bool>("/intersection_flag", 1, true);
-  cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1, true);
-
-  emergency_stop_flag_sub_ = nh_.subscribe("/emergency_stop", 1, &MotionDecision::emergency_stop_flag_callback, this);
-  front_laser_sub_ = nh_.subscribe("/front_laser/scan", 1, &MotionDecision::front_laser_callback, this);
-  joy_sub_ = nh_.subscribe("/joy", 1, &MotionDecision::joy_callback, this);
-  local_path_cmd_vel_sub_ = nh_.subscribe("/local_path/cmd_vel", 1, &MotionDecision::local_path_cmd_vel_callback, this);
-  local_map_sub_ = nh_.subscribe("/local_map", 1, &MotionDecision::local_map_callback, this);
-  odom_sub_ = nh_.subscribe("/odom", 1, &MotionDecision::odom_callback, this);
-  rear_laser_sub_ = nh_.subscribe("/rear_laser/scan", 1, &MotionDecision::rear_laser_callback, this);
-  battery_voltage_sub_ = nh_.subscribe("/battery_voltage", 1, &MotionDecision::battery_voltage_callback, this);
-  footprint_sub_ = nh_.subscribe("/footprint", 1, &MotionDecision::footprint_callback, this);
+  intersection_flag_pub_ = nh_.advertise<std_msgs::Bool>("intersection_flag", 1, true);
+  cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("cmd_vel", 1, true);
+
+  emergency_stop_flag_sub_ = nh_.subscribe("emergency_stop", 1, &MotionDecision::emergency_stop_flag_callback, this);
+  front_laser_sub_ = nh_.subscribe("front_laser/scan", 1, &MotionDecision::front_laser_callback, this);
+  joy_sub_ = nh_.subscribe("joy", 1, &MotionDecision::joy_callback, this);
+  local_path_cmd_vel_sub_ = nh_.subscribe("local_path/cmd_vel", 1, &MotionDecision::local_path_cmd_vel_callback, this);
+  local_map_sub_ = nh_.subscribe("local_map", 1, &MotionDecision::local_map_callback, this);
+  odom_sub_ = nh_.subscribe("odom", 1, &MotionDecision::odom_callback, this);
+  rear_laser_sub_ = nh_.subscribe("rear_laser/scan", 1, &MotionDecision::rear_laser_callback, this);
+  battery_voltage_sub_ = nh_.subscribe("battery_voltage", 1, &MotionDecision::battery_voltage_callback, this);
+  footprint_sub_ = nh_.subscribe("footprint", 1, &MotionDecision::footprint_callback, this);
 
   recovery_mode_flag_server_ =
-      nh_.advertiseService("/recovery/available", &MotionDecision::recovery_mode_flag_callback, this);
-  task_stop_flag_server_ = nh_.advertiseService("/task/stop", &MotionDecision::task_stop_flag_callback, this);
+      nh_.advertiseService("recovery/available", &MotionDecision::recovery_mode_flag_callback, this);
+  task_stop_flag_server_ = nh_.advertiseService("task/stop", &MotionDecision::task_stop_flag_callback, this);
 
   load_params();
   if (params_.use_360_laser || params_.use_local_map)