Bugfix/update map origin with home position (#1892)

* Update map origin with home position * Uncrustify * Revert "Uncrustify" This reverts commit f1387c7. * Change to relative topic --------- Co-authored-by: Natalia Molina <[email protected]>
mavlink · Sep 6, 2023 · cb8fafe · cb8fafe
1 parent 4a8cd45
commit cb8fafe
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/mavros/src/plugins/global_position.cpp b/mavros/src/plugins/global_position.cpp
@@ -48,6 +48,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {
 
 	GlobalPositionPlugin() : PluginBase(),
 		gp_nh("~global_position"),
+		hp_nh("~home_position"),
 		tf_send(false),
 		use_relative_alt(true),
 		is_map_init(false),
@@ -89,7 +90,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {
 
 		// home position subscriber to set "map" origin
 		// TODO use UAS
-		hp_sub = gp_nh.subscribe("home", 10, &GlobalPositionPlugin::home_position_cb, this);
+		hp_sub = hp_nh.subscribe("home", 10, &GlobalPositionPlugin::home_position_cb, this);
 
 		// offset from local position to the global origin ("earth")
 		gp_global_offset_pub = gp_nh.advertise<geometry_msgs::PoseStamped>("gp_lp_offset", 10);
@@ -108,6 +109,7 @@ class GlobalPositionPlugin : public plugin::PluginBase {
 
 private:
 	ros::NodeHandle gp_nh;
+	ros::NodeHandle hp_nh;	//node handler in home_position namespace
 
 	ros::Publisher raw_fix_pub;
 	ros::Publisher raw_vel_pub;