From d04f1c1757f0f4bfd81e3b0498b1a821b8245260 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Mon, 6 Jul 2020 09:36:35 +0200
Subject: [PATCH] improve naming and yaml layout

---
 config/config.yaml         | 20 ++++++++++----------
 src/RobotStateProvider.cpp |  2 +-
 2 files changed, 11 insertions(+), 11 deletions(-)

diff --git a/config/config.yaml b/config/config.yaml
index e495283..a18ba84 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 bf3b35d..ff4c6e2 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{};
-- 
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