Use Robot_hw_nh node handle for joints. #227
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Thanks for the contribution. On a first glance I would say, this does make sense. I think, this is the proper solution for #110. @carebare47 would you agree with this solution? |
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waiting for an answer from @carebare47 before merging |
Np! And thank you to you all for writing the rest of this! Figured the least I could to was contribute a parameter change I use. |
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@carebare47 I am going to merge this by the end of the week and close #110 if no further comments are coming in. |
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Just wanted to ask is this going to be merged? |
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Thanks @CollinAvidano for your contribution! |
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Modified hardware interface to look for joints parameter under the robot_hw node handle. By doing this, removing the hardware_interface prefixed namespace and just having joints as the parameter name, I have managed to get this working well with both a combined robot hardware interface with 2 arms under the same controller manager and with a single arm as is usual.
Similar to pr #110 but does not require the addition of another param. Does modify the hardware_interface param in the controller yamls to be ur_hardware_interface. But after testing and looking at source it seems only the joints parameter references that name.