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Remap joint states instead of re-publish #192

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Remap joint states instead of re-publish #192

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6942e27
Drop re-publishing joint_states_desired
rhaschke Oct 27, 2021
9f62762
Replace re-publishing joint_states with remapping
rhaschke Oct 27, 2021
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15 changes: 4 additions & 11 deletions franka_control/launch/franka_control.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,10 @@

<param name="robot_description" command="$(find xacro)/xacro $(find franka_description)/robots/panda_arm.urdf.xacro hand:=$(arg load_gripper)" />

<!-- Remap both, arm and gripper joint states to default ROS topic joint_states -->
<remap from="franka_state_controller/joint_states" to="joint_states" />
<remap from="franka_gripper/joint_states" to="joint_states" />

<include file="$(find franka_gripper)/launch/franka_gripper.launch" if="$(arg load_gripper)">
<arg name="robot_ip" value="$(arg robot_ip)" />
</include>
Expand All @@ -17,15 +21,4 @@
<rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
<node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="franka_state_controller"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
<rosparam if="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<rosparam unless="$(arg load_gripper)" param="source_list">[franka_state_controller/joint_states_desired] </rosparam>
<param name="rate" value="30"/>
<remap from="/joint_states" to="/joint_states_desired" />
</node>
</launch>
12 changes: 3 additions & 9 deletions franka_gazebo/launch/panda.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,9 @@
<arg name="paused" value="true"/>
<arg name="gui" value="$(eval not arg('headless'))"/>
<arg name="use_sim_time" value="true"/>
<!-- Remap both, arm and gripper joint states to default ROS topic joint_states -->
<remap from="franka_state_controller/joint_states" to="joint_states" />
<remap from="franka_gripper/joint_states" to="joint_states" />
</include>

<param name="robot_description"
Expand Down Expand Up @@ -76,15 +79,6 @@
/>

<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
</node>
<node name="joint_state_desired_publisher" type="joint_state_publisher" pkg="joint_state_publisher">
<rosparam param="source_list">[franka_state_controller/joint_states_desired, franka_gripper/joint_states] </rosparam>
<param name="rate" value="30"/>
<remap from="joint_states" to="joint_states_desired" />
</node>

<!-- Start only if cartesian_impedance_example_controller -->
<node name="interactive_marker"
Expand Down