Assign proper topic suffix to callback

PeterBowman · PeterBowman · commit bb24f89a2b0a · 2025-09-18T17:26:28.000+02:00
diff --git a/libraries/YarpPlugins/CartesianControlServerROS2/CartesianControlServerROS2.cpp b/libraries/YarpPlugins/CartesianControlServerROS2/CartesianControlServerROS2.cpp
@@ -171,7 +171,7 @@ bool CartesianControlServerROS2::configureRosHandlers()
     }
 
     m_tool = m_node->create_subscription<geometry_msgs::msg::Pose>(
-        prefix + "/command/pose", 10,
+        prefix + "/command/tool", 10,
         [this](const geometry_msgs::msg::Pose::SharedPtr msg)
         {
             const auto v = pose_to_vector(msg.get());

Original file line number	Diff line number	Diff line change
`@@ -171,7 +171,7 @@ bool CartesianControlServerROS2::configureRosHandlers()`
`171`	`171`	`}`
`172`	`172`
`173`	`173`	`m_tool = m_node->create_subscription<geometry_msgs::msg::Pose>(`
`174`		`- prefix + "/command/pose", 10,`
	`174`	`+ prefix + "/command/tool", 10,`
`175`	`175`	`[this](const geometry_msgs::msg::Pose::SharedPtr msg)`
`176`	`176`	`{`
`177`	`177`	`const auto v = pose_to_vector(msg.get());`