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hello-robot / stretch_ros

ROS packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros1/
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New joint_arm in stretch_driver action server #89

Closed hello-binit closed 1 year ago

hello-binit commented 1 year ago

This PR introduces "joint_arm" as a more easily understood name for the telescoping arm joint. When interacting with the FollowJointTrajectory action server from stretch_driver, you would previously use the name "wrist_extension" to send a command for the telescoping arm. Now, you can use either "joint_arm" or "wrist_extension". This allows any existing ROS program that calls "wrist_extension" to continue working, while new tutorials will refer to "joint_arm".

Additionally, this PR fixes a bug with stretch_driver's action server, where the feedback callback for an active telescoping command would error out due to an incorrectly formatted named_error value. Now, sending a telescoping command (e.g. joint_arm_l0 through l4) will not cause the node to error out.