When a joint name has a slash in it (e.g. robot1/joint_1) it (at least seems) impossible to set the zero position using the zeros parameter. I believe this is because of how the ros parameter server collapses dictionary keys.
For example, rosparam set zeros "{robot1/joint_1 : 1, robot1/joint_2 : 2}" results in the parameters
zeros/robot1/joint_1 and zeros/robot1/joint_2 and as currently implemented the jsp is looking for zeros['robot1/joint_1'].
When a joint name has a slash in it (e.g.
robot1/joint_1) it (at least seems) impossible to set the zero position using the zeros parameter. I believe this is because of how the ros parameter server collapses dictionary keys.For example,
rosparam set zeros "{robot1/joint_1 : 1, robot1/joint_2 : 2}"results in the parameterszeros/robot1/joint_1andzeros/robot1/joint_2and as currently implemented the jsp is looking forzeros['robot1/joint_1'].