Update sensor_subscriber.cpp

Author: firephinx

catkin_ws/src/franka_ros_interface/src/sensor_data/sensor_subscriber.cpp

@@ -1,27 +1,21 @@
-#include <ros/ros.h>
-
 #include "franka_ros_interface/sensor_data/sensor_subscriber_handler.h"
 
 int main(int argc, char **argv) {
-  ros::init(argc, argv, "sensor_subscriber_node", ros::init_options::AnonymousName);
+  ros::init(argc, argv, "sensor_data_subscriber_node", ros::init_options::AnonymousName);
 
-  ros::NodeHandle n;
+  ros::NodeHandle n("~");
   franka_ros_interface::SensorSubscriberHandler handler(n);
-  std::string robot_num;
-  if (n.getParam("robot_num", robot_num))
+  int robot_num;
+  n.param("robot_num", robot_num, 1);
+  ros::Subscriber sub;
+  if (robot_num == 1)
   {
-    if (robot_num == "1")
-    {
-      ros::Subscriber sub = n.subscribe("franka_ros_interface/sensor", 10, &franka_ros_interface::SensorSubscriberHandler::SensorSubscriberCallback, &handler);
-    }
-    else
-    {
-      ros::Subscriber sub = n.subscribe("franka_ros_interface_"+robot_num+"/sensor", 10, &franka_ros_interface::SensorSubscriberHandler::SensorSubscriberCallback, &handler);
-    }
+    sub = n.subscribe("/franka_ros_interface/sensor", 10, &franka_ros_interface::SensorSubscriberHandler::SensorSubscriberCallback, &handler);
   }
   else
   {
-    ros::Subscriber sub = n.subscribe("franka_ros_interface/sensor", 10, &franka_ros_interface::SensorSubscriberHandler::SensorSubscriberCallback, &handler);
+    std::string robot_num_string = std::to_string(robot_num);
+    sub = n.subscribe("/franka_ros_interface_"+robot_num_string+"/sensor", 10, &franka_ros_interface::SensorSubscriberHandler::SensorSubscriberCallback, &handler);
   }
 
   ros::spin();