Ad passive joints as extra_joints in configuration of joint_state_controller in yaml...

diff --git a/twil_bringup/config/dynamics_linearizing_controller.yaml b/twil_bringup/config/dynamics_linearizing_controller.yaml
index 0164381..d228ddb 100644 (file)
--- a/twil_bringup/config/dynamics_linearizing_controller.yaml
+++ b/twil_bringup/config/dynamics_linearizing_controller.yaml
@@ -3,6 +3,11 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 100
+  extra_joints:
+    - name: caster_wheel_joint
+    - name: caster_base_joint
+    - name: front_caster_wheel_joint
+    - name: front_caster_base_joint
 
 dynamics_linearizing_controller:
   type: effort_controllers/DynamicsLinearizingController

diff --git a/twil_bringup/config/joint_effort_controller.yaml b/twil_bringup/config/joint_effort_controller.yaml
index 7057b71..bd28cfc 100644 (file)
--- a/twil_bringup/config/joint_effort_controller.yaml
+++ b/twil_bringup/config/joint_effort_controller.yaml
@@ -1,6 +1,11 @@
 joint_state_controller:
         type: joint_state_controller/JointStateController
         publish_rate: 100
+        extra_joints:
+                - name: caster_wheel_joint
+                - name: caster_base_joint
+                - name: front_caster_wheel_joint
+                - name: front_caster_base_joint
 
 left_wheel_joint_effort_controller:
         type: effort_controllers/JointEffortController

diff --git a/twil_bringup/config/joint_velocity_controller.yaml b/twil_bringup/config/joint_velocity_controller.yaml
index d5fd24c..15fe54a 100644 (file)
--- a/twil_bringup/config/joint_velocity_controller.yaml
+++ b/twil_bringup/config/joint_velocity_controller.yaml
@@ -1,6 +1,11 @@
 joint_state_controller:
         type: joint_state_controller/JointStateController
         publish_rate: 100
+        extra_joints:
+                - name: caster_wheel_joint
+                - name: caster_base_joint
+                - name: front_caster_wheel_joint
+                - name: front_caster_base_joint
 
 left_wheel_joint_velocity_controller:
         type: effort_controllers/JointVelocityController

diff --git a/twil_bringup/config/nonsmooth_backstep_controller.yaml b/twil_bringup/config/nonsmooth_backstep_controller.yaml
index cd3137d..14acf94 100644 (file)
--- a/twil_bringup/config/nonsmooth_backstep_controller.yaml
+++ b/twil_bringup/config/nonsmooth_backstep_controller.yaml
@@ -3,6 +3,11 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 100
+  extra_joints:
+    - name: caster_wheel_joint
+    - name: caster_base_joint
+    - name: front_caster_wheel_joint
+    - name: front_caster_base_joint
 
 nonsmooth_backstep_controller:
   type: effort_controllers/NonSmoothBackstepController

diff --git a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
index 7a11ee2..eaa5656 100644 (file)
--- a/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
+++ b/twil_bringup/config/nonsmooth_backstep_controller_step.yaml
@@ -3,6 +3,11 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 100
+  extra_joints:
+    - name: caster_wheel_joint
+    - name: caster_base_joint
+    - name: front_caster_wheel_joint
+    - name: front_caster_base_joint
 
 nonsmooth_backstep_controller:
   type: effort_controllers/NonSmoothBackstepController

diff --git a/twil_bringup/config/twist_mrac_linearizing_controller.yaml b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
index f8cc905..89cbf19 100644 (file)
--- a/twil_bringup/config/twist_mrac_linearizing_controller.yaml
+++ b/twil_bringup/config/twist_mrac_linearizing_controller.yaml
@@ -3,6 +3,11 @@
 joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 100
+  extra_joints:
+    - name: caster_wheel_joint
+    - name: caster_base_joint
+    - name: front_caster_wheel_joint
+    - name: front_caster_base_joint
 
 twist_mrac_linearizing_controller:
   type: effort_controllers/TwistMracLinearizingController