The jsp can now use the zeros parameter when joint names have slashes. #60
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…names have slashes.
zeros should be a dictionary of joint-name joint-value pairs. However,
the ROS parameter server expands dictionary keys into namespaces.
For example, rosparam set zeros "{joint_1 : 1.0, robot1/joint_2 : 2.0}" results
in the creation of two parameters: zeros/joint_1, zeros/robot1/joint_2.
This change causes the zeros value for a joint called "robot1/joint_2" to be read
from "zeros/robot1/joint_2".
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I added commits here to round out this PR: m-elwin#1 |
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@clalancette You want to check this out? |
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+1 for this PR. In the long run, it would be nice to fix this in the parameter server instead. IMO, that's where the real bug is, because the parameter server should allow escaping "/" characters. Instead, it ignores any |
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Accio @clalancette ! |
clalancette
approved these changes
Feb 17, 2022
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fixes #59
zeros should be a dictionary of joint-name joint-value pairs. However,
the ROS parameter server expands dictionary keys into namespaces.
For example, rosparam set zeros "{joint_1 : 1.0, robot1/joint_2 : 2.0}" results
in the creation of two parameters: zeros/joint_1, zeros/robot1/joint_2.
This change causes the zeros value for a joint called "robot1/joint_2" to be read
from "zeros/robot1/joint_2".