some cleanup, switched to catkin_simple, fixed get joints #13
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adding yumi configuration backup
Fix/module files
added joint state publisher to yumi_arm_service.py
01halibut
reviewed
Nov 17, 2017
| s = rospy.Service('{0}_arm'.format(name), ROSYumiArm, handle_request) | ||
| rospy.loginfo("{0} arm is ready".format(name)) | ||
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| joint_state_pub = rospy.Publisher( | ||
| '/joint_states', JointState, queue_size=10) |
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This ignores namespace, recommend making it relative instead ('joint_states' instead of '/joint_states')
Also recommend separate topics for left and right arms (and removing the name[0] postfix on line 65), but this is personal preference.
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Most important fix here is
jointsPoseinstead ofjointsTargetfor the 7th joint.In case you don't want to switch to
catkin_simple(even though I think it's way nicer) you could also revert this part.