getting camera_name dynamically in ROS2 wrapper

IntelRealSense · Sep 11, 2023 · b958ca1 · b958ca1
1 parent fd9a686
commit b958ca1
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/realsense2_camera/src/base_realsense_node.cpp b/realsense2_camera/src/base_realsense_node.cpp
@@ -125,6 +125,9 @@ BaseRealSenseNode::BaseRealSenseNode(rclcpp::Node& node,
         ROS_INFO("Intra-Process communication enabled");
     }
 
+    // Get node name
+    _camera_name = _node.get_name();
+
     initializeFormatsMaps();
     _monitor_options = {RS2_OPTION_ASIC_TEMPERATURE, RS2_OPTION_PROJECTOR_TEMPERATURE};
 }

diff --git a/realsense2_camera/src/parameters.cpp b/realsense2_camera/src/parameters.cpp
@@ -23,9 +23,6 @@ void BaseRealSenseNode::getParameters()
     ROS_INFO("getParameters...");
 
     std::string param_name;
-    param_name = std::string("camera_name");
-    _camera_name = _parameters->setParam<std::string>(param_name, "camera");
-    _parameters_names.push_back(param_name);
 
     param_name = std::string("publish_tf");
     _publish_tf = _parameters->setParam<bool>(param_name, PUBLISH_TF);