From 8b48384bae3e34be4d38a8aaaa3bd53ee134979e Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Wed, 1 Aug 2018 13:20:29 +0200
Subject: [PATCH] Use q_d instead of q for move group
---
franka_control/launch/franka_control.launch | 13 +++++++------
panda_moveit_config/launch/move_group.launch | 2 ++
2 files changed, 9 insertions(+), 6 deletions(-)
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 1d308e7..f73f94f 100644
--- a/franka_control/launch/franka_control.launch
+++ b/franka_control/launch/franka_control.launch
@@ -2,7 +2,6 @@
<launch>
<arg name="robot_ip" />
<arg name="load_gripper" default="true" />
- <arg name="publish_desired_values" default="false" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" if="$(arg load_gripper)" />
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm.urdf.xacro'" unless="$(arg load_gripper)" />
@@ -16,10 +15,12 @@
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
- <rosparam if="$(eval load_gripper and publish_desired_values)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
- <rosparam if="$(eval load_gripper and not publish_desired_values)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
- <rosparam if="$(eval not load_gripper and publish_desired_values)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
- <rosparam if="$(eval not load_gripper and not publish_desired_values)" param="source_list">[franka_state_controller/joint_states] </rosparam>
- <param name="rate" value="30"/>
+ <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>
+ </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>
+ <remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
diff --git a/panda_moveit_config/launch/move_group.launch b/panda_moveit_config/launch/move_group.launch
index d5ef479..148a4c8 100644
--- a/panda_moveit_config/launch/move_group.launch
+++ b/panda_moveit_config/launch/move_group.launch
@@ -71,6 +71,8 @@
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+
+ <remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
--
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