From 737feb59c2f348e17a8b2fbffb8cf8ad49215efa Mon Sep 17 00:00:00 2001 From: Felix von Drigalski Date: Fri, 10 Nov 2017 15:42:55 +0900 Subject: [PATCH] Change joint trajectory action topic The old one was using pr2_controllers msgs --- hironx_ros_bridge/include/ros_client.cpp | 16 ++++++++-------- 1 file changed, 8 insertions(+), 8 deletions(-) diff --git a/hironx_ros_bridge/include/ros_client.cpp b/hironx_ros_bridge/include/ros_client.cpp index eca19aff..7c592cda 100644 --- a/hironx_ros_bridge/include/ros_client.cpp +++ b/hironx_ros_bridge/include/ros_client.cpp @@ -104,10 +104,10 @@ class ROS_Client void init_action_clients() { - static TrajClient aclient_larm("/larm_controller/joint_trajectory_action", true); - static TrajClient aclient_rarm("/rarm_controller/joint_trajectory_action", true); - static TrajClient aclient_head("/head_controller/joint_trajectory_action", true); - static TrajClient aclient_torso("/torso_controller/joint_trajectory_action", true); + static TrajClient aclient_larm("/larm_controller/follow_joint_trajectory_action", true); + static TrajClient aclient_rarm("/rarm_controller/follow_joint_trajectory_action", true); + static TrajClient aclient_head("/head_controller/follow_joint_trajectory_action", true); + static TrajClient aclient_torso("/torso_controller/follow_joint_trajectory_action", true); aclient_larm.waitForServer(); ROS_INFO("ros_client; 1"); @@ -202,22 +202,22 @@ class ROS_Client if (groupname == GR_TORSO) { - action_client = new TrajClient("torso_controller/joint_trajectory_action", true); + action_client = new TrajClient("torso_controller/follow_joint_trajectory_action", true); goal = goal_torso; } else if (groupname == GR_HEAD) { - action_client = new TrajClient("head_controller/joint_trajectory_action", true); + action_client = new TrajClient("head_controller/follow_joint_trajectory_action", true); goal = goal_head; } else if (groupname == GR_LARM) { - action_client = new TrajClient("larm_controller/joint_trajectory_action", true); + action_client = new TrajClient("larm_controller/follow_joint_trajectory_action", true); goal = goal_larm; } else if (groupname == GR_RARM) { - action_client = new TrajClient("rarm_controller/joint_trajectory_action", true); + action_client = new TrajClient("rarm_controller/follow_joint_trajectory_action", true); goal = goal_rarm; }