aggiunta lettura parametri default giunti

2019-10-23 14:47:02 +02:00
parent 897c4e911c
commit 41c9d879a9
4 changed files with 9 additions and 4 deletions
--- a/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
+++ b/src/roboglue_ros/include/roboglue_ros/roboglue_utils.h
@@ -96,7 +96,8 @@ typedef struct {
    const robot_state::JointModelGroup* joint_modelGroup;
    robot_model::RobotModelConstPtr kine_model;
    robot_state::RobotStatePtr kine_state;
-    std::vector<std::string> joint_names;
+    std::map<std::string, double> joint_names;
+    std::vector<double> joint_homes;
 } robotData;

 typedef struct {