changed subscriber and publisher name

vortexntnu · Oct 15, 2023 · f81cc5d · f81cc5d
1 parent c389e4e
commit f81cc5d
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/motion/thruster_interface/include/thruster_interface/thruster_interface_node.hpp b/motion/thruster_interface/include/thruster_interface/thruster_interface_node.hpp
@@ -16,13 +16,13 @@ class ThrusterInterfaceROS : public rclcpp::Node {
   ThrusterInterface thrusterInterface{mapping_file};
 
   rclcpp::Subscription<vortex_msgs::msg::ThrusterForces>::SharedPtr
-      subscription_;
-  rclcpp::Publisher<vortex_msgs::msg::Pwm>::SharedPtr publisher_;
+      thruster_forces_sub_;
+  rclcpp::Publisher<vortex_msgs::msg::Pwm>::SharedPtr pwm_pub_;
 
 public:
   ThrusterInterfaceROS() : Node("thruster_interface") {
-    publisher_ = this->create_publisher<vortex_msgs::msg::Pwm>("pwm", 10);
-    subscription_ = this->create_subscription<vortex_msgs::msg::ThrusterForces>(
+    pwm_pub_ = this->create_publisher<vortex_msgs::msg::Pwm>("pwm", 10);
+    thruster_forces_sub_ = this->create_subscription<vortex_msgs::msg::ThrusterForces>(
         "thrust/thruster_forces", 10,
         std::bind(&ThrusterInterfaceROS::thrust_callback, this, _1));
   }

diff --git a/motion/thruster_interface/src/thruster_interface_node.cpp b/motion/thruster_interface/src/thruster_interface_node.cpp
@@ -39,7 +39,7 @@ void ThrusterInterfaceROS::thrust_callback(
     pwm_msg.pins.push_back(thruster_to_pin_map[i]);
   }
 
-  publisher_->publish(pwm_msg);
+  pwm_pub_->publish(pwm_msg);
 
   // thrusterInterface.publish_thrust_to_escs(forces_in_grams);
 }