Set Name field also for subtasks

ADVRHumanoids / CartesianInterface

Package for generic cartesian control of floating base robots. It includes a ROS-based front end, as well as a programmatic API that can be used inside a real-time loop.

GNU General Public License v3.0

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Set Name field also for subtasks #79

Open torydebra opened 1 year ago

torydebra commented 1 year ago

At the moment it seems that the name of the subtask cannot be changed and it is always the key of the yaml

For example:

RightArm:
    type: "Cartesian"
    name: "right_arm"
    #distal_link: "arm2_8"

RightArmLinear:
    type: "Subtask"
    task: "RightArm"

Results in having the topics :

/cartesian/right_arm/***
/cartesian/RightArmLinear/***