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 17:10:00 +01:00
parent 30b9ee5330
commit 70279d5ece
1 changed files with 1 additions and 1 deletions
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src/ur_ros_wrapper.cpp
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@@ -98,13 +98,13 @@ public:
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);
use_ros_control_ = false; use_ros_control_ = false;