Obbart/universal_robots_ros_driver
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Removed info message about setting prefix when prefix is an empty string

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Thomas Timm Andersen
2016-02-19 16:02:12 +01:00
parent 161a7fc146
commit 682c77582b
1 changed files with 10 additions and 8 deletions
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18
src/ur_ros_wrapper.cpp
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@@ -94,15 +94,17 @@ public:
char buf[256];
if (ros::param::get("~prefix", joint_prefix)) {
sprintf(buf, "Setting prefix to %s", joint_prefix.c_str());
print_info(buf);
if (joint_prefix.length() > 0) {
sprintf(buf, "Setting prefix to %s", joint_prefix.c_str());
print_info(buf);
}
joint_names.push_back(joint_prefix + "shoulder_pan_joint");
joint_names.push_back(joint_prefix + "shoulder_lift_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_2_joint");
joint_names.push_back(joint_prefix + "wrist_3_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 + "elbow_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_3_joint");
robot_.setJointNames(joint_names);
use_ros_control_ = false;