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Use link names in temperature messages #320

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merged 2 commits into from
Jul 2, 2019
Merged

Use link names in temperature messages #320

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cc5fd74
Use the link names for temperatures instead of the joint names
fmauch Jul 2, 2019
b0e8f66
Added an explanation why link_names are used for temperature frame_id
fmauch Jul 2, 2019
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8 changes: 8 additions & 0 deletions include/ur_modern_driver/ros/rt_publisher.h
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Original file line number Diff line number Diff line change
Expand Up @@ -36,6 +36,9 @@ using namespace tf;

const std::string JOINTS[] = { "shoulder_pan_joint", "shoulder_lift_joint", "elbow_joint",
"wrist_1_joint", "wrist_2_joint", "wrist_3_joint" };
// links with origin in the joints configured above.
const std::string LINKS[] = { "shoulder_link", "upper_arm_link", "forearm_link",
"wrist_1_link", "wrist_2_link", "wrist_3_link" };
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class RTPublisher : public URRTPacketConsumer
{
Expand All @@ -47,6 +50,7 @@ class RTPublisher : public URRTPacketConsumer
Publisher joint_temperature_pub_;
TransformBroadcaster transform_broadcaster_;
std::vector<std::string> joint_names_;
std::vector<std::string> link_names_;
std::string base_frame_;
std::string tool_frame_;
bool temp_only_;
Expand All @@ -73,6 +77,10 @@ class RTPublisher : public URRTPacketConsumer
{
joint_names_.push_back(joint_prefix + j);
}
for (auto const& link : LINKS)
{
link_names_.push_back(joint_prefix + link);
}
}

virtual bool consume(RTState_V1_6__7& state);
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5 changes: 4 additions & 1 deletion src/ros/rt_publisher.cpp
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Expand Up @@ -98,7 +98,10 @@ bool RTPublisher::publishTemperature(RTShared& packet, Time& t)
{
sensor_msgs::Temperature msg;
msg.header.stamp = t;
msg.header.frame_id = joint_names_[i];
// assumption: origins of the link frames are coincident with the origins
// of the joints. As the temperature sensors are assumed to be located in
// the joints, using the names of the link frames here should be acceptable.
msg.header.frame_id = link_names_[i];
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msg.temperature = packet.motor_temperatures[i];

joint_temperature_pub_.publish(msg);
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