Hi,

Basic Setup:

• Two microcontrollers feeding rosserial (looking for rs485 tutorial or examples, by the way) Encoder
  Information and receiving motor cmd. 4x encoder and motor cmd per mc. They run the exactly same program just
  other names for the topics.
• Launching two serial nodes (2 ports, 2 names), one for each mc.
• Messages all arrive in the appropriate namespace.
• HW-Interface based on https://github.com/cyborg-x1/ros_control_test

Problem:

1. Only the data from the first 4 topics/encoders gets published in the Joint_State msg. Those four are also coming from one single mc, and are by default the first four Names/datafields in the message.
2. For some strange reason JointStateController "copies" the data into fields of other Joints, exactly the ones I cant get to publish by themself.
   

What could this all be about?

• I checked naming, datafield etc. mixups.
• I switched the controllers ports, its just always the same controller
  that "gets the go".
• Changed position of controllers in config.yaml and .launch nothing
  changed.

Would be nice if someone could give me an Idea where to look for a solution, or even better point me to a rs485 HW interface. Thanks Matt

EDIT:

I didnt have the latest version on this computer but the handles part didnt change. For some reason I cant copy it to the Strg-K, it just takes the first line, so here it is the dirty way.

hardware_interface::JointStateHandle state_handle_a("blsteer", &pos[0], &vel[0], &eff[0]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_a);
   hardware_interface::JointStateHandle state_handle_b("brsteer", &pos[1], &vel[1], &eff[1]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_b);
   hardware_interface::JointStateHandle state_handle_c("blwwheel", &pos[2], &vel[2], &eff[2]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_c);
   hardware_interface::JointStateHandle state_handle_d("brwwheel", &pos[3], &vel[3], &eff[3]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_d);
   hardware_interface::JointStateHandle state_handle_e("flsteer", &pos[4], &vel[4], &eff[4]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_e);
   hardware_interface::JointStateHandle state_handle_f("frsteer", &pos[5], &vel[5], &eff[5]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_f);
   hardware_interface::JointStateHandle state_handle_g("flwwheel", &pos[6], &vel[6], &eff[6]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_g);
   hardware_interface::JointStateHandle state_handle_h("frwwheel", &pos[7], &vel[7], &eff[7]); //pos vel eff outputs of the state message...
   jnt_state_interface.registerHandle(state_handle_h);

   hardware_interface::JointHandle pos_handle_a(jnt_state_interface.getHandle("blsteer"), &cmd[0]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle pos_handle_b(jnt_state_interface.getHandle("brsteer"), &cmd[1]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle vel_handle_a(jnt_state_interface.getHandle("blwwheel"), &cmd[2]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle vel_handle_b(jnt_state_interface.getHandle("brwwheel"), &cmd[3]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle pos_handle_c(jnt_state_interface.getHandle("flsteer"), &cmd[4]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle pos_handle_d(jnt_state_interface.getHandle("frsteer"), &cmd[5]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle vel_handle_c(jnt_state_interface.getHandle("flwwheel"), &cmd[6]); //cmd is the commanded value depending on the controller.
   hardware_interface::JointHandle vel_handle_d(jnt_state_interface.getHandle("frwwheel"), &cmd[7]); //cmd is the commanded value depending on the controller.