deleted unused parameter, fix ros log param name

ETHZ-RobotX · Jun 17, 2024 · c55cccb · c55cccb
1 parent 07a392d
commit c55cccb
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Showing 2 changed files with 2 additions and 3 deletions.
diff --git a/smb_exploration/launch/frontier/smb_rss_frontier.launch b/smb_exploration/launch/frontier/smb_rss_frontier.launch
@@ -10,7 +10,6 @@
   <rosparam file="$(find smb_navigation)/config/move_base_costmaps/costmap_common_params.yaml" command="load" ns="global_costmap" />
   <rosparam file="$(find smb_exploration)/config/global_costmap_exploration.yaml" command="load"/>
   <param name="global_costmap/global_frame"     value="$(arg global_frame)"/>
-  <param name="global_costmap/robot_base_frame" value="$(arg base_frame)"/>
   <param name="global_costmap/scan_topic" value="$(arg scan_topic)"/>
   <param name="global_costmap/occ_topic" value="/map"/>
 </node>

diff --git a/smb_exploration/src/ExplorationMap.cpp b/smb_exploration/src/ExplorationMap.cpp
@@ -15,13 +15,13 @@ ExplorationMap::ExplorationMap(ros::NodeHandle nh)
     ROS_INFO_STREAM("Creating exploration map ... ...");
     std::string scan_topic;
     if(!nh_.getParam("global_costmap/scan_topic", scan_topic)){
-      ROS_ERROR("Could not parse the parameter scan_topic");
+      ROS_ERROR("Could not parse the parameter global_costmap/scan_topic");
       return;
     }
 
     std::string occ_topic;
     if(!nh_.getParam("global_costmap/occ_topic", occ_topic)){
-      ROS_ERROR("Could not parse the parameter occ_topic");
+      ROS_ERROR("Could not parse the parameter global_costmap/occ_topic");
       return;
     }