Rename JOINT_NAMES in ur_driver test_move.py [closed]

edit

For solving my problem I split it up in two approaches:

1. Copy test_move.py into my own package and change the joint names, as well as the topic name it advertises.
2. Use features that are already implemted in ROS-I and do needed changes via launch file.

Informations that are important for both approaches: Out of a joint_names.yaml, which I found here, I got the names the Joints should have.

The first approach: I copied the test_move.py in a package created by myself and got it to run with changing the JOINT_NAMES and the topic advertised. Here are the lines I modified:

JOINT_NAMES = ['joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5', 'joint_6']
client = actionlib.SimpleActionClient('joint_trajectory_action', FollowJointTrajectoryAction)

And I call it with these commands:

roscore
roslaunch industrial_robot_client robot_interface_streaming.launch robot_ip:=192.168.0.101
rosrun rospy_pkg test_move

This for the first works! But results in an error message listed bellow in this question.

The second approach: Later on I found here, that the process of copying the test_move.py and modify it is not necessary. One can use the original test_move.py in the ur_driver package and set the rosparam controller_joint_names. It will have the same effect as writing an own modified test_move.py.

<launch>
   <arg name="robot_ip" />
   <param name="/robot_ip_address" type="str" value="$(arg robot_ip)"/>
   <rosparam param="controller_joint_names">['shoulder_pan_joint', 'shoulder_lift_joint', 'elbow_joint','wrist_1_joint', 'wrist_2_joint', 'wrist_3_joint']</rosparam>

   <node pkg="industrial_robot_client" type="robot_state" name="robot_state"/>
   <node pkg="industrial_robot_client" type="motion_streaming_interface" name="motion_streaming_interface"/>
   <node pkg="industrial_robot_client" type="joint_trajectory_action" name="joint_trajectory_action">
      <remap from="joint_trajectory_action/feedback" to "follow_joint_trajectory/feedback"/>
   </node>
   <node pkg="ur_driver" type="test_move.py" name="follow_joint_trajectory">
      <remap from="follow_joint_trajectory/cancel" to="/joint_trajectory_action/cancel"/>
      <remap from="follow_joint_trajectory/goal" to="/joint_trajectory_action/goal"/>
      <remap from="follow_joint_trajectory/result" to="/joint_trajectory_action/result"/>
      <remap from="follow_joint_trajectory/status" to="/joint_trajectory_action/status"/>
   </node>
</launch>

This also works! But results in the same error message as approach nr. 1 mentioned above. Here is the error message:

[joint_trajectory_action-X] process has died [pid 19413, exit code -6, cmd /opt/ros/hydro/lib/industrial_robot_client/joint_trajectory_action

So far I found out it has to do with the remapping of the the .../feedback topic. Attention! In Version Nr. 2 I do a remapping in the launch file. In Version Nr. 1 it is done by ROS-I automatically. Any ideas what and why it happens?