From 54a852305cf99e7ca730d06d7f7550bb55b78b4f Mon Sep 17 00:00:00 2001
From: Henning Kayser <henningkayser@mail.de>
Date: Fri, 21 Jul 2017 17:33:28 +0200
Subject: [PATCH] Adds prefix to all joint names.

---
 src/ros_main.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/ros_main.cpp b/src/ros_main.cpp
index b680ff6..8d74e3e 100644
--- a/src/ros_main.cpp
+++ b/src/ros_main.cpp
@@ -85,6 +85,10 @@ int main(int argc, char **argv)
     return EXIT_FAILURE;
   }
 
+  //Add prefix to joint names
+  std::transform (args.joint_names.begin(), args.joint_names.end(), args.joint_names.begin(),
+        [&args](std::string name){return args.prefix + name;});
+
   std::string local_ip(getLocalIPAccessibleFromHost(args.host));
 
   URFactory factory(args.host);
@@ -156,4 +160,4 @@ int main(int argc, char **argv)
   LOG_INFO("Pipelines shutdown complete");
 
   return EXIT_SUCCESS;
-}
\ No newline at end of file
+}