Use Robot_hw_nh node handle for joints. (#227)

modified hardware interface to look for joints parameter under the robot_hw node handle
UniversalRobots · Aug 19, 2020 · 64ab483 · 64ab483
1 parent 2e44f86
commit 64ab483
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Showing 7 changed files with 8 additions and 8 deletions.
diff --git a/ur_robot_driver/config/ur10_controllers.yaml b/ur_robot_driver/config/ur10_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/config/ur10e_controllers.yaml b/ur_robot_driver/config/ur10e_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/config/ur3_controllers.yaml b/ur_robot_driver/config/ur3_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/config/ur3e_controllers.yaml b/ur_robot_driver/config/ur3e_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/config/ur5_controllers.yaml b/ur_robot_driver/config/ur5_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 125
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/config/ur5e_controllers.yaml b/ur_robot_driver/config/ur5e_controllers.yaml
@@ -3,7 +3,7 @@ hardware_control_loop:
    loop_hz: &loop_hz 500
 
 # Settings for ros_control hardware interface
-hardware_interface:
+ur_hardware_interface:
    joints: &robot_joints
      - shoulder_pan_joint
      - shoulder_lift_joint

diff --git a/ur_robot_driver/src/ros/hardware_interface.cpp b/ur_robot_driver/src/ros/hardware_interface.cpp
@@ -284,9 +284,9 @@ bool HardwareInterface::init(ros::NodeHandle& root_nh, ros::NodeHandle& robot_hw
   command_sub_ = robot_hw_nh.subscribe("script_command", 1, &HardwareInterface::commandCallback, this);
 
   // Names of the joints. Usually, this is given in the controller config file.
-  if (!root_nh.getParam("hardware_interface/joints", joint_names_))
+  if (!robot_hw_nh.getParam("joints", joint_names_))
   {
-    ROS_ERROR_STREAM("Cannot find required parameter " << root_nh.resolveName("hardware_interface/joints")
+    ROS_ERROR_STREAM("Cannot find required parameter " << robot_hw_nh.resolveName("joints")
                                                        << " on the parameter server.");
     throw std::runtime_error("Cannot find required parameter "
                              "'controller_joint_names' on the parameter server.");