From 13c8c52fc0f483fe09eb7b178215cfd988b6a24e Mon Sep 17 00:00:00 2001
From: Sabeeh Khan <sabeeh-khan@ti.com>
Date: Wed, 1 Sep 2021 13:40:43 -0500
Subject: [PATCH] add /mmWaveCLI into ti_mmwave_sensor

---
 .../src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch      | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
index e73ba7b..17aa815 100644
--- a/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
+++ b/autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
@@ -19,11 +19,14 @@
     <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
     <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
     <param name="frame_id" value="ti_mmwave"/>
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
     <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl"/>
   </node>
   
   <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
-  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
+  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" >
+    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
+  </node>
   
   <node pkg="tf2_ros" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave"/>