Obbart/universal_robots_ros_driver
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Rt publisher improvement

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This commit is contained in:
Simon Rasmussen
2017-04-13 10:45:58 +02:00
parent bbe2102ac8
commit 2a80601e84
1 changed files with 4 additions and 13 deletions
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17
src/ros/rt_publisher.cpp
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@@ -4,20 +4,11 @@ bool RTPublisher::publishJoints(RTShared& packet, Time& t)
{
sensor_msgs::JointState joint_msg;
joint_msg.header.stamp = t;
joint_msg.name = joint_names_;
for (auto const& q : packet.q_actual)
{
joint_msg.position.push_back(q);
}
for (auto const& qd : packet.qd_actual)
{
joint_msg.velocity.push_back(qd);
}
for (auto const& i : packet.i_actual)
{
joint_msg.effort.push_back(i);
}
joint_msg.name.assign(joint_names_.begin(), joint_names_.end());
joint_msg.position.assign(packet.q_actual.begin(), packet.q_actual.end());
joint_msg.velocity.assign(packet.qd_actual.begin(), packet.qd_actual.end());
joint_msg.effort.assign(packet.i_actual.begin(), packet.i_actual.end());
joint_pub_.publish(joint_msg);