From 009d6dce4877afe02f7dee6fd473b7d45e13f24a Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Mon, 6 Aug 2018 15:41:34 +0200
Subject: [PATCH] Re-add rate for joint_state_publisher
---
franka_control/launch/franka_control.launch | 2 ++
1 file changed, 2 insertions(+)
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index f73f94f..4ef1f1a 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -17,10 +17,12 @@
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
+ <param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
+ <param name="rate" value="30"/>
<remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
--
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