Fixed Issue #2. Use a private namespace for the parameters.

package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>rtimulib_ros</name>
-  <version>1.0.0</version>
+  <version>1.1.0</version>
   <description>A simple package to use the nice RTIMULib from RichardsTech in ROS</description>
 
   <author email="[email protected]">Romain REIGNIER</author>

src/rtimulib_ros.cpp

@@ -33,36 +33,37 @@ int main(int argc, char **argv)
     ros::init(argc, argv, "rtimulib_node");
     ROS_INFO("Imu driver is now running");
     ros::NodeHandle n;
+    ros::NodeHandle private_n("~");
 
     std::string topic_name;
-    if(!n.getParam("/rtimulib_node/topic_name", topic_name))
+    if(!private_n.getParam("topic_name", topic_name))
     {
         ROS_WARN("No topic_name provided - default: imu/data");
         topic_name = "imu/data";
     }
 
     std::string calibration_file_path;
-    if(!n.getParam("/rtimulib_node/calibration_file_path", calibration_file_path))
+    if(!private_n.getParam("calibration_file_path", calibration_file_path))
     {
         ROS_ERROR("The calibration_file_path parameter must be set to use a calibration file.");
     }
 
     std::string calibration_file_name;
-    if(!n.getParam("/rtimulib_node/calibration_file_name", calibration_file_name))
+    if(!private_n.getParam("calibration_file_name", calibration_file_name))
     {
         ROS_WARN("No calibration_file_name provided - default: RTIMULib.ini");
         calibration_file_name = "RTIMULib";
     }
 
     std::string frame_id;
-    if(!n.getParam("/rtimulib_node/frame_id", frame_id))
+    if(!private_n.getParam("frame_id", frame_id))
     {
         ROS_WARN("No frame_id provided - default: imu_link");
         frame_id = "imu_link";
     }
 
     double update_rate;
-    if(!n.getParam("/rtimulib_node/update_rate", update_rate))
+    if(!private_n.getParam("update_rate", update_rate))
     {
         ROS_WARN("No update_rate provided - default: 20 Hz");
         update_rate = 20;