The upcoming elimination of the redundant /robot/limb/<left/right>/joint_states will break our current api, specifically our limb baxter_interface. The sooner we transition to supporting the usage of the standard naming (from the URDF, ie. 'left_s0, right_w1') the least amount of customers will feel the fallout of these changes.
This pull request reflects our transition to the standard /robot/joint_states in all of sdk-examples.
The implications of these changes are the following:
You will no longer be able to command a limb with the 'short' naming.
ex. you must use 'left_s0' instead of the abbreviated name 's0'
All instances of usage with the shortname have been eliminated. These include the limb interface, and the trajectory_controller.
All examples have been updated to reflect these changes.
The upcoming elimination of the redundant /robot/limb/<left/right>/joint_states will break our current api, specifically our limb baxter_interface. The sooner we transition to supporting the usage of the standard naming (from the URDF, ie. 'left_s0, right_w1') the least amount of customers will feel the fallout of these changes.
This pull request reflects our transition to the standard /robot/joint_states in all of sdk-examples.
The implications of these changes are the following: