Reuse base class publish topic name

add missing getter
mrpt-ros-pkg · Aug 8, 2024 · c6d601f · c6d601f
1 parent c421f63
commit c6d601f
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Showing 2 changed files with 2 additions and 4 deletions.
diff --git a/mrpt_sensor_gnss_nmea/src/mrpt_sensor_gnss_nmea_node.cpp b/mrpt_sensor_gnss_nmea/src/mrpt_sensor_gnss_nmea_node.cpp
@@ -127,10 +127,7 @@ void process_gps(
 
     auto& pubs = NMEA_Pubs::Instance();
 
-    std::string publish_topic = "sensor";
-    node.declare_parameter("publish_topic", publish_topic);
-    node.get_parameter("publish_topic", publish_topic);
-    pubs.ensure_pubs_are_created(node, publish_topic);
+    pubs.ensure_pubs_are_created(node, node.publish_topic());
 
     std_msgs::msg::Header msgHeader;
     msgHeader.frame_id = node.sensor_frame_id();

diff --git a/mrpt_sensorlib/include/mrpt_sensorlib/mrpt_sensorlib.h b/mrpt_sensorlib/include/mrpt_sensorlib/mrpt_sensorlib.h
@@ -99,6 +99,7 @@ class GenericSensorNode : public rclcpp::Node
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_bc_;
 
     const auto sensor_frame_id() const { return sensor_frame_id_; }
+    const auto publish_topic() const { return publish_topic_; }
 
    private:
     // ----------------- ROS 2 params -----------------