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 | 1 | initial version |
As my own comment said i managed to change the joint trajectory controller to get a parameter from the parameter server. If anyone is interested in details let me know.
| | 2 | No.2 Revision |
As my own comment said i managed to change the joint trajectory controller to get a parameter from the parameter server. If anyone is interested in details let me know. know.
Details: I basically just changed one line of code in the joint_trajectory_controller_impl.h from:
urdf::ModelSharedPtr urdf = getUrdf(root_nh, "robot_description");
To:
std::string robot_description = "robot_description";
controller_nh_.getParam("robot_description", robot_description);
boost::shared_ptr<urdf::Model> urdf = getUrdf(root_nh, robot_description);
Now i can add robot_description : my_robot_description to the yaml file and the controller will look it up.
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