Fix mixed-up implementations in TfSubscription creation (moveit#1073)

Co-authored-by: Jean-Christophe Ruel <jeanchristophe.ruel@elmec.ca>
AndyZe · Mar 15, 2022 · dc23186 · dc23186
1 parent c78aebe
commit dc23186
Showing 1 changed file with 4 additions and 4 deletions.
diff --git a/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor_middleware_handle.cpp b/moveit_ros/planning/planning_scene_monitor/src/current_state_monitor_middleware_handle.cpp
@@ -88,15 +88,15 @@ bool CurrentStateMonitorMiddlewareHandle::sleepFor(const std::chrono::nanosecond
   return rclcpp::sleep_for(nanoseconds);
 }
 
-void CurrentStateMonitorMiddlewareHandle::createStaticTfSubscription(TfCallback callback)
+void CurrentStateMonitorMiddlewareHandle::createDynamicTfSubscription(TfCallback callback)
 {
-  static_transform_subscriber_ =
+  transform_subscriber_ =
       node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf", tf2_ros::DynamicListenerQoS(), callback);
 }
 
-void CurrentStateMonitorMiddlewareHandle::createDynamicTfSubscription(TfCallback callback)
+void CurrentStateMonitorMiddlewareHandle::createStaticTfSubscription(TfCallback callback)
 {
-  transform_subscriber_ =
+  static_transform_subscriber_ =
       node_->create_subscription<tf2_msgs::msg::TFMessage>("/tf_static", tf2_ros::StaticListenerQoS(), callback);
 }