Merge pull request #10 from mrpt-ros-pkg/use-gnss-base-topic-name

Use gnss base topic name

.github/workflows/ros-build.yml

@@ -42,19 +42,16 @@ jobs:
             ros_version: 2
 
           # Rolling Ridley (No End-Of-Life)
-#          - docker_image: ubuntu:noble
-#            ros_distribution: rolling
-#            ros_version: 2
+          - docker_image: ubuntu:noble
+            ros_distribution: rolling
+            ros_version: 2
 
     container:
       image: ${{ matrix.docker_image }}
 
     steps:
-      - name: Checkout
-        run: |
-          apt-get -y update
-          apt-get -y install git
-          git clone https://github.com/$GITHUB_REPOSITORY.git --recursive "$GITHUB_WORKSPACE"
+      - name: Checkout source code
+        uses: actions/checkout@v3
 
       - name: setup ROS environment
         uses: ros-tooling/[email protected]

mrpt_sensor_gnss_nmea/src/mrpt_sensor_gnss_nmea_node.cpp

@@ -127,7 +127,7 @@ void process_gps(
 
     auto& pubs = NMEA_Pubs::Instance();
 
-    pubs.ensure_pubs_are_created(node, publish_topic_);
+    pubs.ensure_pubs_are_created(node, node.publish_topic());
 
     std_msgs::msg::Header msgHeader;
     msgHeader.frame_id = node.sensor_frame_id();

mrpt_sensorlib/include/mrpt_sensorlib/mrpt_sensorlib.h

@@ -99,6 +99,7 @@ class GenericSensorNode : public rclcpp::Node
     std::shared_ptr<tf2_ros::TransformBroadcaster> tf_bc_;
 
     const auto sensor_frame_id() const { return sensor_frame_id_; }
+    const auto publish_topic() const { return publish_topic_; }
 
    private:
     // ----------------- ROS 2 params -----------------