search

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
146 stars 192 forks source link

compare joint names, reject joint_state updates with differing names #506

Open cjue opened 2 years ago

cjue commented 2 years ago

fixes https://github.com/ros-industrial/motoman/issues/326

based on https://github.com/gavanderhoorn/motoman/commit/e369ddc88e4a04adf847d9415ae94a0103ab9fd8 but also added the check to the multi-arm callback.

@gavanderhoorn in https://github.com/ros-industrial/motoman/issues/326#issuecomment-627420401

I'm still not happy with having to do that here in this driver, but it does help make things more robust, so a PR with that change ported to current kinetic-devel would be something we can merge.

Note: this has not been tested on multi-arm setups.

cjue commented 2 years ago

closed this PR by accident, re-opened it now