Commit e28b3735 authored by Olivier Stasse's avatar Olivier Stasse

Makes republish reads /sot_controller/joint_names for the mapping

Install republish through catkin
parent 72718b52
...@@ -65,7 +65,8 @@ foreach(dir config launch) ...@@ -65,7 +65,8 @@ foreach(dir config launch)
) )
endforeach() endforeach()
catkin_install_python(PROGRAMS scripts/republish
DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
############# #############
## Testing ## ## Testing ##
############# #############
......
...@@ -10,13 +10,7 @@ pub = rospy.Publisher('/sot/joint_state', JointState, queue_size=10) ...@@ -10,13 +10,7 @@ pub = rospy.Publisher('/sot/joint_state', JointState, queue_size=10)
seqnb = 0 seqnb = 0
aJS = JointState() aJS = JointState()
jointnames = [ jointnames = rospy.get_param("/sot_controller/joint_names")
'leg_left_1_joint', 'leg_left_2_joint', 'leg_left_3_joint', 'leg_left_4_joint', 'leg_left_5_joint', 'leg_left_6_joint',
'leg_right_1_joint', 'leg_right_2_joint', 'leg_right_3_joint', 'leg_right_4_joint', 'leg_right_5_joint', 'leg_right_6_joint',
'torso_1_joint', 'torso_2_joint',
'arm_left_1_joint', 'arm_left_2_joint', 'arm_left_3_joint', 'arm_left_4_joint', 'arm_left_5_joint', 'arm_left_6_joint', 'arm_left_7_joint', 'gripper_left_joint','arm_right_1_joint', 'arm_right_2_joint', 'arm_right_3_joint', 'arm_right_4_joint', 'arm_right_5_joint', 'arm_right_6_joint', 'arm_right_7_joint', 'gripper_right_joint',
'head_1_joint', 'head_2_joint',
]
def jointreceived(jstates): def jointreceived(jstates):
global seqnb global seqnb
......
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