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iory / rcb4

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Publish joint names in ServoOnOff msg #88

Closed 708yamaguchi closed 4 weeks ago

708yamaguchi commented 4 weeks ago

In this pull request, joint names are now published within the ServoOnOff message.

Additionally, instead of assigning values to self.joint_servo_on within servo_on_off_callback(), this has been standardized to use self.check_servo_states().

708yamaguchi commented 4 weeks ago 
$ rostopic echo /fullbody_controller/servo_on_off_real_interface/state -n1
joint_names: 
  - joint1
  - joint2
  - joint3
  - joint4
  - joint5
  - joint6
  - joint7
  - gripper_dummy_joint
  - gripper_joint1
  - gripper_joint2
servo_on_states: [False, False, False, False, False, False, False, False, False, False]
---