Obbart/universal_robots_ros_driver
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Fixed 'No joint names published when not using a prefix'. Closes #34

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Thomas Timm Andersen
2016-02-22 17:08:40 +01:00
parent 682c77582b
commit 30b9ee5330
1 changed files with 7 additions and 7 deletions
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14
src/ur_ros_wrapper.cpp
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@@ -97,13 +97,13 @@ public:
if (joint_prefix.length() > 0) { if (joint_prefix.length() > 0) {
sprintf(buf, "Setting prefix to %s", joint_prefix.c_str()); sprintf(buf, "Setting prefix to %s", joint_prefix.c_str());
print_info(buf); print_info(buf);
} }
joint_names.push_back(joint_prefix + "shoulder_pan_joint"); joint_names.push_back(joint_prefix + "shoulder_pan_joint");
joint_names.push_back(joint_prefix + "shoulder_lift_joint"); joint_names.push_back(joint_prefix + "shoulder_lift_joint");
joint_names.push_back(joint_prefix + "elbow_joint"); joint_names.push_back(joint_prefix + "elbow_joint");
joint_names.push_back(joint_prefix + "wrist_1_joint"); joint_names.push_back(joint_prefix + "wrist_1_joint");
joint_names.push_back(joint_prefix + "wrist_2_joint"); joint_names.push_back(joint_prefix + "wrist_2_joint");
joint_names.push_back(joint_prefix + "wrist_3_joint"); joint_names.push_back(joint_prefix + "wrist_3_joint");
} }
robot_.setJointNames(joint_names); robot_.setJointNames(joint_names);