Proposed fix for issue ROBOTIS-GIT#1

This is a proposed fix for the issue ROBOTIS-GIT#1, No ability to set frame_id in the scan message. It's only for the ROS1 version of the driver, but similar solution could probably be implemented for the ROS2 version as well.

src/ld08_driver.cpp

@@ -29,6 +29,9 @@ int main(int argc , char **argv)
  strcpy(product_ver,"LD08");
  ros::init(argc, argv, product_ver);
  ros::NodeHandle nh; /* create a ROS Node */
+ ros::NodeHandle priv_nh("~");
+ std::string frame_id;
+ priv_nh.param("frame_id", frame_id, std::string("base_scan"));
  char topic_name[20]={0};
  strcat(topic_name,product_ver);
  strcat(topic_name,"/scan");
@@ -59,7 +62,7 @@ int main(int argc , char **argv)
  cmd_port.Open(port_name);
  sensor_msgs::LaserScan scan;
  scan.header.stamp = ros::Time::now();
- scan.header.frame_id = "base_scan";
+ scan.header.frame_id =  frame_id;
  scan.range_min = 0.0;
  scan.range_max = 100.0;