From 58df23da2d662770c3f3020f454cacd3deadb571 Mon Sep 17 00:00:00 2001
From: Tomas Baca <klaxalk@gmail.com>
Date: Tue, 9 Jul 2024 17:51:36 +0200
Subject: [PATCH] fixed tracker command remap

---
 src/hw_api_manager.cpp | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/hw_api_manager.cpp b/src/hw_api_manager.cpp
index e2ebe86..68bedaf 100644
--- a/src/hw_api_manager.cpp
+++ b/src/hw_api_manager.cpp
@@ -236,7 +236,8 @@ void HwApiManager::onInit() {
 
   sh_position_cmd_ = mrs_lib::SubscribeHandler<mrs_msgs::HwApiPositionCmd>(shopts, "position_cmd", &HwApiManager::callbackPositionCmd, this);
 
-  sh_tracker_cmd_ = mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "control_manager/tracker_cmd", &HwApiManager::callbackTrackerCmd, this);
+  sh_tracker_cmd_ =
+      mrs_lib::SubscribeHandler<mrs_msgs::TrackerCommand>(shopts, "/" + _uav_name_ + "/control_manager/tracker_cmd", &HwApiManager::callbackTrackerCmd, this);
 
   // | ----------------------- publishers ----------------------- |