shm_driver: remove time_ref topic parameter to improve secutiry, plea…

…se use remap

Fixes #9

package.xml

@@ -39,7 +39,6 @@
           <ros_api>
             <sub name="~/time_ref" type="sensor_msgs/TimeReference">Time source topic. (default topic name)</sub>
             <param name="~/shm_unit" type="int" default="2">SHM Unit (must be same as in ntp server config).</param>
-            <param name="~/time_ref_topic" type="string" default="time_ref">Topic name (may be used instead of remap).</param>
             <param name="~/fixup_date" type="bool" default="false">Enable date fixup.</param>
           </ros_api>
         </node>

src/shm_driver.cpp

@@ -208,26 +208,23 @@ int main(int argc, char *argv[])
   ros::Subscriber time_ref_sub;
 
   int shm_unit;
-  std::string time_ref_topic;
 
   // Override default ROS handler
   signal(SIGINT, sig_handler);
 
   // Read Parameters
   nh.param("shm_unit", shm_unit, 2);
   nh.param("fixup_date", g_set_date, false);
-  nh.param<std::string>("time_ref_topic", time_ref_topic, "time_ref");
 
   // Report settings
-  ROS_INFO_STREAM("NTP time source: " << ros::names::resolve(time_ref_topic, true));
   ROS_INFO_STREAM("NTP date fixup: " << ((g_set_date) ? "enabled" : "disabled"));
 
   g_shm = get_shmTime(shm_unit);
   if (g_shm == NULL)
     return 1;
 
   // prefer to unreliable connection, but accept tcp too.
-  time_ref_sub = nh.subscribe(time_ref_topic, 10, time_ref_cb,
+  time_ref_sub = nh.subscribe("time_ref", 10, time_ref_cb,
       ros::TransportHints()
       .unreliable().maxDatagramSize(1024)
       .reliable().tcpNoDelay(true));