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Removed version0 parameters (as much as possible) #89
If/when this PR is accepted, the multi-group tutorial should be updated.
I quickly ran into an
I think I tracked it down to these lines (from here):
Commenting out these lines lets the node continue, but I don't get any messages out of it (which makes sense, since I disabled publishing).
But I can't really understand why it's crashing there. Afaict, this PR doesn't change anything connected to these lines (the publishers in
I haven't spent too much time trying to figure out what is going on, so any ideas?
The numbering of these should start with 0, so when the joint states of the last group needs to be published, it tries to index a publisher which does not exist.
Once this problem is resolved, the next problem (which is also present in
This can be surpressed by commenting line 89 of
referenced this pull request
May 17, 2016
Yes, this can be merged. Afaict this is actually a pretty nice clean-up, although without unit-tests we can't know for sure there aren't any regressions introduced by this.
I only have access to a single system, and it's not a dual-arm, so I can't say anything about the changes in this PR when used with a dual-arm setup.