Update robot_models_node.cpp

src/robot_models_node.cpp

@@ -55,13 +55,13 @@
         worldobject o10;
 
 
-        o5a.name = "panda_joint1";
-        o5b.name = "panda_joint2";
-        o5c.name = "panda_joint3";
-        o5d.name = "panda_joint4";
-        o5e.name = "panda_joint5";
-        o5f.name = "panda_joint6";
-        o5g.name = "panda_joint7";
+        //o5a.name = "panda_joint1";
+        //o5b.name = "panda_joint2";
+        //o5c.name = "panda_joint3";
+        //o5d.name = "panda_joint4";
+        //o5e.name = "panda_joint5";
+        //o5f.name = "panda_joint6";
+        //o5g.name = "panda_joint7";
         o5a.x = 1.7;
         o5b.y = 1.8;
         o5c.z = 1.9;
@@ -107,13 +107,13 @@
             {
                 geometry_msgs::TransformStamped transformStamped;
                 try {
-                    transformStamped = tfBuffer.lookupTransform("panda_joint1", tfBuffer.o5a, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint2", tfBuffer.o5b, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint3", o5c, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint4", o5d, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint5", o5e, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint6", o5f, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint7", To5g, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint1", o5a.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint2", o5b.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint3", o5c.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint4", o5d.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint5", o5e.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint6", o5f.name, ros::Time(0));
+                    transformStamped = tfBuffer.lookupTransform("panda_joint7", o5g.name, ros::Time(0));
                 } catch (tf2::TransformException &ex) {
                     ROS_WARN("%s", ex.what());
                     ros::Duration(0.1).sleep();