[baxtereus/baxter-interface.l] fix removing torso joint in :ros-state…

…-callback of baxter-interface class.
jsk-ros-pkg · Jun 19, 2016 · 88d6d03 · 88d6d03
1 parent 858436f
commit 88d6d03
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/jsk_baxter_robot/baxtereus/baxter-interface.l b/jsk_baxter_robot/baxtereus/baxter-interface.l
@@ -249,10 +249,10 @@
 
   (:ros-state-callback
    (msg)
-   (let ((robot-state-names (cdr (assoc :name robot-state))) (robot-msg-names (send msg :name)) (torso-index))
+   (let ((robot-msg-names (send msg :name)) (torso-index))
      ;;Remove toros_t0 . We think this is not the rotational-joint
      (setq torso-index (position "torso_t0" robot-msg-names :test #'string=))
-     (send msg :name ( remove "torso_t0" robot-state-names :test #'string=))
+     (send msg :name ( remove "torso_t0" robot-msg-names :test #'string=))
      (when torso-index
        (dolist (key '(:position :velocity :effort) )
          (send msg key (concatenate float-vector