Fix: joint_states_broadcaster configuration.

diff --git a/tatuira_bringup/config/dynamics_linearizing_controller.yaml b/tatuira_bringup/config/dynamics_linearizing_controller.yaml
index a1b3e8a..01e5c1b 100644 (file)
--- a/tatuira_bringup/config/dynamics_linearizing_controller.yaml
+++ b/tatuira_bringup/config/dynamics_linearizing_controller.yaml
@@ -5,8 +5,8 @@ joint_state_broadcaster:
     type: joint_state_broadcaster/JointStateBroadcaster
     publish_rate: 100
     extra_joints:
-      - name: front_bearing_0_joint
-      - name: front_wheel_rim_joint
+      - front_bearing_0_joint
+      - front_wheel_rim_joint
 
 dynamics_linearizing_controller:
   ros__parameters:

diff --git a/tatuira_bringup/config/nonsmooth_backstep_controller.yaml b/tatuira_bringup/config/nonsmooth_backstep_controller.yaml
index 0d01df9..010b42e 100644 (file)
--- a/tatuira_bringup/config/nonsmooth_backstep_controller.yaml
+++ b/tatuira_bringup/config/nonsmooth_backstep_controller.yaml
@@ -5,8 +5,8 @@ joint_state_broadcaster:
     type: joint_state_broadcaster/JointStateBroadcaster
     publish_rate: 100
     extra_joints:
-      - name: front_bearing_0_joint
-      - name: front_wheel_rim_joint
+      - front_bearing_0_joint
+      - front_wheel_rim_joint
 
 nonsmooth_backstep_controller:
   ros__parameters:

diff --git a/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml b/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml
index 2eebe20..aa1b27e 100644 (file)
--- a/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml
+++ b/tatuira_bringup/config/nonsmooth_backstep_controller_step.yaml
@@ -5,8 +5,8 @@ joint_state_broadcaster:
     type: joint_state_broadcaster/JointStateBroadcaster
     publish_rate: 100
     extra_joints:
-      - name: front_bearing_0_joint
-      - name: front_wheel_rim_joint
+      - front_bearing_0_joint
+      - front_wheel_rim_joint
 
 nonsmooth_backstep_controller:
   ros__parameters:

diff --git a/tatuira_bringup/config/pid.yaml b/tatuira_bringup/config/pid.yaml
index 6f868c3..9b40019 100644 (file)
--- a/tatuira_bringup/config/pid.yaml
+++ b/tatuira_bringup/config/pid.yaml
@@ -15,5 +15,5 @@ joint_states_broadcaster:
                 type: joint_state_broadcaster/JointStateBroadcaster
                 publish_rate: 100
                 extra_joints:
-                        - name: front_bearing_0_joint
-                        - name: front_wheel_rim_joint
+                        - front_bearing_0_joint
+                        - front_wheel_rim_joint

diff --git a/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml b/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml
index 1f712ae..302ad34 100644 (file)
--- a/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml
+++ b/tatuira_bringup/config/twist_mrac_linearizing_controller.yaml
@@ -5,8 +5,8 @@ joint_state_broadcaster:
     type: joint_state_broadcaster/JointStateBroadcaster
     publish_rate: 100
     extra_joints:
-      - name: front_bearing_0_joint
-      - name: front_wheel_rim_joint
+      - front_bearing_0_joint
+      - front_wheel_rim_joint
 
 twist_mrac_linearizing_controller:
   ros__parameters: