Skip to content

Commit

Permalink
This commit does not belong to any branch on this repository, and may belong to a fork outside of the repository.
refactor(franka_gazebo): remove FrankaHWSim robot namespace warning
Browse files Browse the repository at this point in the history
This commit removes the robot namespace warning found in the FrankaHWSim
since it is no longer needed now that #196 has been merged. It also
replaced the 'arm_id' default with the model name.
rickstaa committed Mar 23, 2024

Unverified

This commit is not signed, but one or more authors requires that any commit attributed to them is signed.
1 parent 86f2254 commit 24321ee
Showing 2 changed files with 8 additions and 7 deletions.
1 change: 1 addition & 0 deletions CHANGELOG.md
Original file line number Diff line number Diff line change
@@ -14,6 +14,7 @@ Requires `libfranka` >= 0.8.0
* `franka_description`: `<xacro:franka_robot/>` macro now supports to customize the `parent` frame and its `xyz` + `rpy` offset
* `franka_hw`: Fix the bug where the previous controller is still running after switching the controller. ([#326](https://github.com/frankaemika/franka_ros/issues/326))
* `franka_gazebo`: Add `set_franka_model_configuration` service.
* `franka_gazebo`: remove FrankaHWSim robot namespace warning

## 0.10.1 - 2022-09-15

14 changes: 7 additions & 7 deletions franka_gazebo/src/franka_hw_sim.cpp
Original file line number Diff line number Diff line change
@@ -35,14 +35,14 @@ bool FrankaHWSim::initSim(const std::string& robot_namespace,
gazebo::physics::ModelPtr parent,
const urdf::Model* const urdf,
std::vector<transmission_interface::TransmissionInfo> transmissions) {
model_nh.param<std::string>("arm_id", this->arm_id_, robot_namespace);
if (this->arm_id_ != robot_namespace) {
ROS_WARN_STREAM_NAMED(
"franka_hw_sim",
"Caution: Robot names differ! Read 'arm_id: "
<< this->arm_id_ << "' from parameter server but URDF defines '<robotNamespace>"
<< robot_namespace << "</robotNamespace>'. Will use '" << this->arm_id_ << "'!");
// Try to get the arm_id from the robot_namespace otherwise use the model name.
if (!model_nh.hasParam("arm_id")) {
ROS_WARN_STREAM_NAMED("franka_hw_sim", "No 'arm_id' found on '" << model_nh.getNamespace()
<< "' parameter namespace."
<< " Using model name instead ("
<< parent->GetName() << ").");
}
model_nh.param<std::string>("arm_id", this->arm_id_, parent->GetName());

this->robot_ = parent;
this->robot_initialized_ = false;

0 comments on commit 24321ee

Please sign in to comment.