Porblem Publishing Sonar and IR Data

edit

Hi all,

Not sure what's the matter here. If I use rostopic list, when my publisher has advertises Sonar messages I see /Sonar in the list. However if I try just the IR data it sometimes works most of the time not. The ad code is simply:

    // Sonar Range Test
    /*  bool publish_sonar = true;
n.param("publish_sonar", publish_sonar, publish_sonar);
ros::Publisher sonar_pub;

if(publish_sonar) 
{
    sonar_pub = n.advertise<sensor_msgs::Range>("Sonar", 1000);
}

    */  // IR Range Test
bool publish_ir = true;
n.param("publish_ir", publish_ir, publish_ir);
ros::Publisher ir_pub;

if(ir_pub) 
{
    ir_pub = n.advertise<sensor_msgs::Range>("InfraRed", 1000);
}

Any suggestions would me v welcome - I want my node to publish both at the end of the day. The TF for both works fine.

Many Thanks

Mark