diff --git a/config/config.yaml b/config/config.yaml index e4952837c71df94621d5fd6d488ab5fdde4de411..a18ba849e3714314ed726f9e2780839dc1cae3ae 100644 --- a/config/config.yaml +++ b/config/config.yaml @@ -1,21 +1,21 @@ panda_mqtt_connector: server: "tcp://localhost:1883" topics: - - robotConfig: "robotconfig" - - dataConfig: "dataconfig" + robotConfig: "robotconfig" + dataConfig: "dataconfig" zone_size: 0.5 zones: - "1 1" - "-1 -1 1" - joints: + parts: panda: - Joint0: "panda::panda_link0" - Joint1: "panda::panda_link1" - Joint2: "panda::panda_link2" - Joint3: "panda::panda_link3" - Joint4: "panda::panda_link4" - Joint5: "panda::panda_link5" - Joint6: "panda::panda_link6" + Link0: "panda::panda_link0" + Link1: "panda::panda_link1" + Link2: "panda::panda_link2" + Link3: "panda::panda_link3" + Link4: "panda::panda_link4" + Link5: "panda::panda_link5" + Link6: "panda::panda_link6" LeftFinger: "panda::panda_leftfinger" RightFinger: "panda::panda_rightfinger" end_effectors: diff --git a/src/RobotStateProvider.cpp b/src/RobotStateProvider.cpp index bf3b35d3367da1cb8ef1e592622cf1af6983fc09..ff4c6e2922f094f4c36a06ba0b3701fb6563cb32 100644 --- a/src/RobotStateProvider.cpp +++ b/src/RobotStateProvider.cpp @@ -216,7 +216,7 @@ namespace robot_state_provider { } void readTopicList(const ros::NodeHandle &n) { - const std::vector<std::string> elementTypes{"/joints/", "/end_effectors/"}; + const std::vector<std::string> elementTypes{"/parts/", "/end_effectors/"}; std::vector<std::string> parameterNames; n.getParamNames(parameterNames); std::set<std::string> groups{};