From 28dd90f00813bce92ebc81931144b7d6e861ac5c Mon Sep 17 00:00:00 2001
From: Florian Walch <florian.walch@franka.de>
Date: Fri, 10 Aug 2018 16:09:20 +0200
Subject: [PATCH] Fix demo launchfile

---
 launch/demo.launch       | 1 +
 launch/demo_chomp.launch | 1 +
 package.xml              | 1 +
 3 files changed, 3 insertions(+)

diff --git a/launch/demo.launch b/launch/demo.launch
index 7ed51e4..a8a9a86 100644
--- a/launch/demo.launch
+++ b/launch/demo.launch
@@ -32,6 +32,7 @@
     <param name="/use_gui" value="$(arg use_gui)"/>
     <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
   </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
 
   <!-- Given the published joint states, publish tf for the robot links -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
diff --git a/launch/demo_chomp.launch b/launch/demo_chomp.launch
index 78815d9..e98de1a 100644
--- a/launch/demo_chomp.launch
+++ b/launch/demo_chomp.launch
@@ -31,6 +31,7 @@
     <param name="/use_gui" value="$(arg use_gui)"/>
     <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
   </node>
+  <node name="joint_state_desired_publisher" pkg="topic_tools" type="relay" args="joint_states joint_states_desired" />
 
   <!-- Given the published joint states, publish tf for the robot links -->
   <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
diff --git a/package.xml b/package.xml
index 4b80562..5ac35b2 100644
--- a/package.xml
+++ b/package.xml
@@ -24,6 +24,7 @@
   <run_depend>joint_state_publisher</run_depend>
   <run_depend>robot_state_publisher</run_depend>
   <run_depend>xacro</run_depend>
+  <run_depend>topic_tools</run_depend>
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
   <build_depend>franka_description</build_depend>
-- 
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