From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sat, 8 Dec 2018 23:36:59 +0000 (-0200)
Subject: Fix joint names.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=083051359ae22fd0db324c57149d6557a998252b;p=ufrgs_wam.git

Fix joint names.
---

diff --git a/wam_node_sim/launch/gazebo.launch b/wam_node_sim/launch/gazebo.launch
index bb011b7..33d3f3f 100644
--- a/wam_node_sim/launch/gazebo.launch
+++ b/wam_node_sim/launch/gazebo.launch
@@ -9,20 +9,27 @@
 	<arg name="controller" default="pid_plus_gravity_controller"/>
 	<arg name="config" default="$(find wam_bringup)/config/$(arg controller).yaml"/>
 
-	<include file="$(find wam_bringup)/launch/gazebo.launch" >
-		<arg name="paused" value="$(arg paused)"/>
-		<arg name="headless" value="$(arg headless)"/>
-		<arg name="use_sim_time" value="$(arg use_sim_time)"/>
-		<arg name="table" value="$(arg table)"/>
-		<arg name="bhand" value="$(arg bhand)"/>
-		<arg name="controller" value="$(arg controller)" />
-		<arg name="config" value="$(arg config)" />
-	</include>
+	<group>
+		<remap from="/joint_states" to="gazebo/joint_states" />
+		<remap from="wam/command" to="controller/command" />
 
-	<remap from="wam/command" to="controller/command" />
+		<include file="$(find wam_bringup)/launch/gazebo.launch" >
+			<arg name="paused" value="$(arg paused)"/>
+			<arg name="headless" value="$(arg headless)"/>
+			<arg name="use_sim_time" value="$(arg use_sim_time)"/>
+			<arg name="table" value="$(arg table)"/>
+			<arg name="bhand" value="$(arg bhand)"/>
+			<arg name="controller" value="$(arg controller)" />
+			<arg name="config" value="$(arg config)" />
+		</include>
 
-	<include file="$(find wam_node_sim)/launch/wam_node_sim.launch" />
-	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher">
-		<remap from="/joint_states" to="wam/joint_states" />
+		<include file="$(find wam_node_sim)/launch/wam_node_sim.launch" />
+	</group>
+
+	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+		<rosparam param="source_list">["/wam/joint_states","/bhand/joint_states"]</rosparam>
 	</node>
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
 </launch>
diff --git a/wam_node_sim/src/wam_node_sim.cpp b/wam_node_sim/src/wam_node_sim.cpp
index b95af1e..2bfa79f 100644
--- a/wam_node_sim/src/wam_node_sim.cpp
+++ b/wam_node_sim/src/wam_node_sim.cpp
@@ -235,7 +235,8 @@ template<size_t DOF>
       hand_sprd_vel_srv = nh_.advertiseService("spread_vel", &WamNode::handSpreadVel, this); // bhand/spread_vel
 
       //Set up the BarrettHand joint state publisher
-      const char* bhand_jnts[] = {"inner_f1", "inner_f2", "inner_f3", "spread", "outer_f1", "outer_f2", "outer_f3"};
+//      const char* bhand_jnts[] = {"inner_f1", "inner_f2", "inner_f3", "spread", "outer_f1", "outer_f2", "outer_f3"};
+      const char* bhand_jnts[] = {"bhand_finger1_joint_2", "bhand_finger2_joint_2", "bhand_finger3_joint_2", "bhand_spread", "bhand_finger1_joint_3", "bhand_finger2_joint_3", "bhand_finger3_joint_3"};
       std::vector < std::string > bhand_joints(bhand_jnts, bhand_jnts + 7);
       bhand_joint_state.name.resize(7);
       bhand_joint_state.name = bhand_joints;
@@ -245,7 +246,8 @@ template<size_t DOF>
     wam.gravityCompensate(true); // Turning on Gravity Compenstation by Default when starting the WAM Node
 
     //Setting up WAM joint state publisher
-    const char* wam_jnts[] = {"wam_j1", "wam_j2", "wam_j3", "wam_j4", "wam_j5", "wam_j6", "wam_j7"};
+//    const char* wam_jnts[] = {"wam_j1", "wam_j2", "wam_j3", "wam_j4", "wam_j5", "wam_j6", "wam_j7"};
+    const char* wam_jnts[] = {"wam_joint_1", "wam_joint_2", "wam_joint_3", "wam_joint_4", "wam_joint_5", "wam_joint_6", "wam_joint_7"};
     std::vector < std::string > wam_joints(wam_jnts, wam_jnts + 7);
     wam_joint_state.name = wam_joints;
     wam_joint_state.name.resize(DOF);