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Use Robot_hw_nh node handle for joints. #227

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merged 2 commits into from Aug 19, 2020
Merged

Use Robot_hw_nh node handle for joints. #227

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f099a6b
modified hardware interface to look for joints parameter under the ro…
CollinAvidano Jul 14, 2020
2192878
forgot to fix the exception
CollinAvidano Jul 14, 2020
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2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur10_controllers.yaml
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur10e_controllers.yaml
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Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur3_controllers.yaml
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Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur3e_controllers.yaml
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Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur5_controllers.yaml
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Expand Up @@ -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
Expand Down
2 changes: 1 addition & 1 deletion ur_robot_driver/config/ur5e_controllers.yaml
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Open in desktop
Expand Up @@ -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
Expand Down
4 changes: 2 additions & 2 deletions ur_robot_driver/src/ros/hardware_interface.cpp
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Expand Up @@ -278,9 +278,9 @@ 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.");
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