From 722e7b29b68656e9fbcf1c3ce828d4c6028c31b1 Mon Sep 17 00:00:00 2001
From: Aarsh Thakker <53620577+aarsht7@users.noreply.github.com>
Date: Sun, 6 Mar 2022 14:26:07 +0100
Subject: [PATCH] Updated to use nodehandle in urdf

Refer the ROS question where I was facing an error with the namespaces while working with the group position controller.
https://answers.ros.org/question/397126/robot_description-not-found-on-parameter-server-while-launching-the-controller/
---
 effort_controllers/src/joint_group_position_controller.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/effort_controllers/src/joint_group_position_controller.cpp b/effort_controllers/src/joint_group_position_controller.cpp
index cb39fdb07..2cb03411c 100644
--- a/effort_controllers/src/joint_group_position_controller.cpp
+++ b/effort_controllers/src/joint_group_position_controller.cpp
@@ -76,7 +76,7 @@ namespace effort_controllers
 
     // Get URDF
     urdf::Model urdf;
-    if (!urdf.initParam("robot_description"))
+    if (!urdf.initParamWithNodeHandle("robot_description", n))
     {
       ROS_ERROR("Failed to parse urdf file");
       return false;