From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Sun, 16 Jul 2023 22:06:42 +0000 (-0300)
Subject: Fix: joint_states_broadcaster configuration.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=41828041e8830ff28bc728f9085241870a170fff;p=tatuira.git

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
--- 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
--- 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
--- 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
--- 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
--- 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: