Allow params to take on namespaces as prefixes (#1)

ackermann_cmd_mux/src/throttle_interpolator.py

@@ -11,29 +11,29 @@ class InterpolateThrottle:
     def __init__(self):
 
         # Allow our topics to be dynamic.
-        self.rpm_input_topic   = rospy.get_param('~rpm_input_topic', '/vesc/commands/motor/unsmoothed_speed')
-        self.rpm_output_topic  = rospy.get_param('~rpm_output_topic', '/vesc/commands/motor/speed')
+        self.rpm_input_topic   = rospy.get_param('~rpm_input_topic', 'commands/motor/unsmoothed_speed')
+        self.rpm_output_topic  = rospy.get_param('~rpm_output_topic', 'commands/motor/speed')
 
-        self.servo_input_topic   = rospy.get_param('~servo_input_topic', '/vesc/commands/servo/unsmoothed_position')
-        self.servo_output_topic  = rospy.get_param('~servo_output_topic', '/vesc/commands/servo/position')
+        self.servo_input_topic   = rospy.get_param('~servo_input_topic', 'commands/servo/unsmoothed_position')
+        self.servo_output_topic  = rospy.get_param('~servo_output_topic', 'commands/servo/position')
 
-        self.max_acceleration = rospy.get_param('/vesc/max_acceleration')
-        self.max_rpm = rospy.get_param('/vesc/vesc_driver/speed_max')
-        self.min_rpm = rospy.get_param('/vesc/vesc_driver/speed_min')
-        self.throttle_smoother_rate = rospy.get_param('/vesc/throttle_smoother_rate')
-        self.speed_to_erpm_gain = rospy.get_param('/vesc/speed_to_erpm_gain')
+        self.max_acceleration = rospy.get_param('max_acceleration')
+        self.max_rpm = rospy.get_param('vesc_driver/speed_max')
+        self.min_rpm = rospy.get_param('vesc_driver/speed_min')
+        self.throttle_smoother_rate = rospy.get_param('throttle_smoother_rate')
+        self.speed_to_erpm_gain = rospy.get_param('speed_to_erpm_gain')
 
-        self.max_servo_speed = rospy.get_param('/vesc/max_servo_speed')
-        self.steering_angle_to_servo_gain = rospy.get_param('/vesc/steering_angle_to_servo_gain')
-        self.servo_smoother_rate = rospy.get_param('/vesc/servo_smoother_rate')
-        self.max_servo = rospy.get_param('/vesc/vesc_driver/servo_max')
-        self.min_servo = rospy.get_param('/vesc/vesc_driver/servo_min')
+        self.max_servo_speed = rospy.get_param('max_servo_speed')
+        self.steering_angle_to_servo_gain = rospy.get_param('steering_angle_to_servo_gain')
+        self.servo_smoother_rate = rospy.get_param('servo_smoother_rate')
+        self.max_servo = rospy.get_param('vesc_driver/servo_max')
+        self.min_servo = rospy.get_param('vesc_driver/servo_min')
 
         # Variables
         self.last_rpm = 0
         self.desired_rpm = self.last_rpm
 
-        self.last_servo = rospy.get_param('/vesc/steering_angle_to_servo_offset')
+        self.last_servo = rospy.get_param('steering_angle_to_servo_offset')
         self.desired_servo_position = self.last_servo
 
         # Create topic subscribers and publishers