From c7f1cb718ea1b0ad3c082f3fb12931d40915b659 Mon Sep 17 00:00:00 2001
From: kalman <kalmanxiong@slightech.com>
Date: Tue, 27 Nov 2018 15:01:58 +0800
Subject: [PATCH] Fix ros bug

---
 .../ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch    | 8 --------
 .../ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc   | 2 +-
 2 files changed, 1 insertion(+), 9 deletions(-)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
index ff53e61..1b46e8d 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/launch/mynteye.launch
@@ -84,14 +84,6 @@
   <arg name="gyro_low_filter" default="-1" />
   <!-- <arg name="gyro_low_filter" default="64" /> -->
 
-  <!-- accel_range range: {4,8,16,32} -->
-  <arg name="accel_range" default="-1" />
-  <!-- <arg name="accel_range" default="8" /> -->
-
-  <!-- gyro_range range: {500,1000,2000,4000} -->
-  <arg name="gyro_range" default="-1" />
-  <!-- <arg name="gyro_range" default="1000" /> -->
-
   <!-- Push down all topics/nodelets into "mynteye" namespace -->
   <group ns="$(arg mynteye)">
 
diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index aac3965..9b2e908 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -409,7 +409,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
 
             ++right_count_;
             publishCamera(Stream::RIGHT, data, right_count_, stamp);
-            publishMono(Stream::LEFT, data, left_count_, stamp);
+            publishMono(Stream::RIGHT, data, right_count_, stamp);
             NODELET_DEBUG_STREAM(
                 Stream::RIGHT
                 << ", count: " << right_count_ << ", frame_id: "