From a8b320336474df4d39b14529c5dc8c821d47409a Mon Sep 17 00:00:00 2001 From: Manuel Stahl Date: Wed, 12 Aug 2020 13:26:22 +0200 Subject: [PATCH] Fix limb: goal.names must be goal.name See http://docs.ros.org/kinetic/api/sensor_msgs/html/msg/JointState.html --- intera_interface/src/intera_interface/limb.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/intera_interface/src/intera_interface/limb.py b/intera_interface/src/intera_interface/limb.py index d6d0f47..02d9e27 100644 --- a/intera_interface/src/intera_interface/limb.py +++ b/intera_interface/src/intera_interface/limb.py @@ -625,7 +625,7 @@ def ik_request(self, pose, ikreq.use_nullspace_goal.append(True) # The nullspace goal can either be the full set or subset of joint angles goal = JointState() - goal.names = nullspace_goal.keys() + goal.name = nullspace_goal.keys() goal.position = nullspace_goal.values() ikreq.nullspace_goal.append(goal) # The gain used to bias toward the nullspace goal. Must be [0.0, 1.0]